The Stationary Action Principle
This crucial chapter focuses on the stationary action principle. It introduces Lagrangian mechanics, using first-order variational calculus to derive the Euler–Lagrange equation, and the inverse problem is described. The chapter then considers the Ostrogradsky equation and discusses the properties of the extrema using the second-order variation to the action. It then discusses the difference between action functions (of Dirichlet boundary conditions) and action functionals of the extremal path. The different types of boundary conditions (Dirichlet vs Neumann) are elucidated. Topics discussed include Hessian conditions, Douglas’s theorem, the Jacobi last multiplier, Helmholtz conditions, Noether-type variation and Frenet–Serret frames, as well as concepts such as on shell and off shell. Actions of non-continuous extremals are examined using Weierstrass–Erdmann corner conditions, and the action principle is written in the most general form as the Hamilton–Suslov principle. Important applications of the Euler–Lagrange formulation are highlighted, including protein folding.