Abstract
A 2-form is canonically defined on the cotangent bundle of a manifold. Diffeomorphisms leaving this 2-form invariant are called canonical transformations.
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Thirring, W., Harrell, E. (1978). Hamiltonian Systems. In: A Course in Mathematical Physics 1. Springer, Vienna. https://doi.org/10.1007/978-3-7091-8526-1_3
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DOI: https://doi.org/10.1007/978-3-7091-8526-1_3
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