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== 역사 ==
[[아일랜드]]의 수학자 [[윌리엄 로언 해밀턴]]이 기존의 [[라그랑주 역학]]을 바탕으로 1833년에 도입하였다.<ref>{{저널 인용|저자고리저자링크=윌리엄 로언 해밀턴|성=Hamilton|이름=William Rowan|제목=On a General Method in Dynamics; By Which the Study of the Motions of All Free Systems of Attracting or Repelling Points is Reduced to the Search and Differentiation of One Central Relation, or Characteristic Function|저널=Philosophical Transactions of the Royal Society of London|연도=1834|권=124|쪽=247-308|doi=10.1098/rstl.1834.0017|url=http://www.maths.tcd.ie/pub/HistMath/People/Hamilton/Dynamics/GenMeth.pdf}}</ref><ref>{{저널 인용|저자고리저자링크=윌리엄 로언 해밀턴|성=Hamilton|이름=William Rowan|저널=Philosophical Transactions of the Royal Society of London|제목=Second Essay on a General Method in Dynamics|연도=1835|권=125|쪽=95-144|doi=10.1098/rstl.1835.0009|url=http://www.maths.tcd.ie/pub/HistMath/People/Hamilton/Dynamics/SecEssay.pdf}}</ref>
== 전개 ==
* {{서적 인용|저자=문희태|연도=2006|제목=고전역학|판=개정판|위치=서울|출판사=서울대학교 출판부|쪽=271-3, 274-6}}
* {{언어링크|en}} {{저널 인용|제목=Hamiltonian systems|이름=James|성=Meiss|연도=2007|저널=Scholarpedia|권=2|호=8|쪽=1943|doi=10.4249/scholarpedia.1943}}
* {{언어링크|en}} {{서적 인용 | first=Vladimir Igorevich|저자고리저자링크=블라디미르 아르놀트 | last=Arnold | title=Mathematical Methods of Classical Mechanics | publisher=Springer-Verlag | year=1989 | isbn=0-387-96890-3 }}
* {{언어링크|en}} {{서적 인용|저자=Ralph Abraham, Jerrold E. Marsden | title=Foundations of Mechanics | year=1978 | publisher=Benjamin-Cummings | location=London | isbn=0-8053-0102-X }}
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