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Formalismo de Hamilton-Jacobi à la Carathéodory:

M.C. Bertin ; B.M. Pimentel ; P.J. Pompeia
http://www.scielo.br/scielo.php?script=sci_arttext&pid=S1806-11172007000300012&tlng=pt.  , 2007
Link: https://doi.org/10.1590/S1806-11172007000300012