Mechanics

Physics 151
Lecture 21
Canonical Transformations
(Chapter 9)
What We Did Last Time
Canonical transformations
Hamiltonian formalism is
invariant under canonical + scale transformations
Generating functions define canonical transformations
Four basic types of generating functions
They are all practically equivalent
Used it to simplify a harmonic oscillator
Invariance of phase space
i i i i
dF
PQ K p q H
dt
+ =

1
( , , ) F q Q t
2
( , , ) F q P t
3
( , , ) F p Q t
4
( , , ) F p P t
Four Basic Generators
Trivial Case Derivatives Generator
1
( , , ) F q Q t
2
( , , )
i i
F q P t Q P
3
( , , )
i i
F p Q t q p +
4
( , , )
i i i i
F p P t q p Q P +
1
i
i
F
p
q
c
=
c
1
i
i
F
P
Q
c
=
c
1 i i
F q Q =
i i
Q p =
i i
P q =
2
i
i
F
p
q
c
=
c
2
i
i
F
Q
P
c
=
c
2 i i
F q P =
i i
P p =
i i
Q q =
3
i
i
F
q
p
c
=
c
3
i
i
F
P
Q
c
=
c
4
i
i
F
q
p
c
=
c
4
i
i
F
Q
P
c
=
c
3 i i
F p Q =
i i
P p =
i i
Q q =
4 i i
F p P =
i i
Q p =
i i
P q =
Goals for Today
Dig deeper into Canonical Transformations
Infinitesimal Canonical Transformation
Very small changes in q and p
Define generator G for an ICT
Direct Conditions for Canonical Transformation
Necessary-and-sufficient conditions for any CT
Poisson Bracket
Invariant of any Canonical Transformation
Connect to Infinitesimal Canonical Transformation
Infinitesimal CT
Consider a CT in which q, p are changed by small
(infinitesimal) amounts
ICT is close to identity transf.
Generating function should be
i i i
Q q q o = +
i i i
P p p o = +
Infinitesimal Canonical
Transformation (ICT)
2
( , , ) ( , , )
i i
F q P t q P G q P t c = +
Identity CT generator Small
2
i i
i i
F G
p P
q q
c
c c
= = +
c c
2
i i
i i
F G
Q q
P P
c
c c
= = +
c c
Look at the
generator table
i
i i
G G
q
P p
o c c
c c
= ~
c c
i
i i
G G
p
q Q
o c c
c c
= ~
c c
Since c is
infinitesimal
Generator of ICT
An ICT is generated by
G is called (inaccurately) the generator of the ICT
Since the CT is infinitesimal, G may be expressed in terms
of q or Q, p or P, interchangeably
For example:
2
( , , ) ( , , )
i i
F q P t q P G q P t c = +
i i
i
G
Q q
P
c
c
= +
c
i i
i
G
P p
q
c
c
=
c
( , , ) G G q p t =
i i
i
G
Q q
p
c
c
= +
c
i i
i
G
P p
q
c
c
=
c
Hamiltonian
Consider
What does c look like? Infinitesimal time ot
Hamiltonian is the generator of infinitesimal time
transformation
In QM, you learn that Hamiltonian is the operator that
represents advance of time
( , , ) G H q p t =
i i
i
H
q q
p
o c c
c
= =
c

i i
i
H
p p
q
o c c
c
= =
c

i i
q q t o o =
i i
p p t o o =
Direct Conditions
Consider a restricted Canonical Transformation
Generator has no t dependence
Q and P depends only on q and p
0
F
t
c
=
c
( , ) ( , ) K Q P H q p =
Hamiltonian
is unchanged
( , )
i i
Q Q q p = ( , )
i i
P P q p =
i i i i
i j j
j j j j j j
Q Q Q Q H H
Q q p
q p q p p q
c c c c c c
= + =
c c c c c c

i i i i
i j j
j j j j j j
P P P P H H
P q p
q p q p p q
c c c c c c
= + =
c c c c c c

Hamiltons
equations
Direct Conditions
On the other hand, Hamiltons eqns say
i i
i
j j j j
Q Q H H
Q
q p p q
c c c c
=
c c c c

i i
i
j j j j
P P H H
P
q p p q
c c c c
=
c c c c

j j
i
i j i j i
q p
H H H
Q
P q P p P
c c
c c c
= = +
c c c c c

j j
i
i j i j i
q p
H H H
P
Q q Q p Q
c c
c c c
= =
c c c c c

Direct
Conditions
for a Canonical
Transformation
,
,
j
i
j i
Q P
q p
p
Q
q P
| |
c | |
c
=
|
|
|
c c
\ .
\ . ,
,
j
i
j i
Q P
q p
q
Q
p P
| |
c | |
c
=
|
|
|
c c
\ .
\ .
,
,
j
i
j i
Q P
q p
p
P
q Q
| |
c | |
c
=
|
|
|
c c
\ .
\ . ,
,
j
i
j i
Q P
q p
q
P
p Q
| |
c | |
c
=
|
|
|
c c
\ .
\ .
Direct Conditions
Direct Conditions are necessary and sufficient for a
time-independent transformation to be canonical
You can use them to test a CT
In fact, this applies to all Canonical Transformations
But the proof on the last slide doesnt work
,
,
j
i
j i
Q P
q p
p
Q
q P
| |
c | |
c
=
|
|
|
c c
\ .
\ . ,
,
j
i
j i
Q P
q p
q
Q
p P
| |
c | |
c
=
|
|
|
c c
\ .
\ .
,
,
j
i
j i
Q P
q p
p
P
q Q
| |
c | |
c
=
|
|
|
c c
\ .
\ . ,
,
j
i
j i
Q P
q p
q
P
p Q
| |
c | |
c
=
|
|
|
c c
\ .
\ .
Infinitesimal CT
Does an ICT satisfy the DCs?
2
( )
i i i
ij
j j i j
Q q q G
q q P q
o
o c
c c + c
= = +
c c c c
2
( )
j j j
ij
i i i j
p P p
G
P P P q
o
o c
c c
c
= = +
c c c c
i
i i
G G
q
P p
o c c
c c
= ~
c c
i
i i
G G
p
q Q
o c c
c c
= ~
c c
2
( )
i i i
j j i j
Q q q G
p p P p
o
c
c c + c
= =
c c c c
2
( )
j j j
i i i j
q Q q
G
P P P p
o
c
c c
c
= =
c c c c
2
( )
i i i
j j i j
P p p G
q q Q q
o
c
c c + c
= =
c c c c
2
( )
j j j
i i i j
p P p
G
Q Q Q q
o
c
c c
c
= =
c c c c
2
( )
i i i
ij
j j i j
P p p G
p p Q p
o
o c
c c + c
= =
c c c c
2
( )
j j j
ij
i i i j
q Q q
G
Q Q Q p
o
o c
c c
c
= =
c c c c
Yes!
Successive CTs
Two successive CTs make a CT
Direct Conditions can also be chained, e.g.,
1
i i i i
dF
PQ K p q H
dt
+ =

2
i i i i
dF
Y X M PQ K
dt
+ =

1 2
( )
i i i i
d F F
Y X M p q K
dt
+
+ =

True for unrestricted CTs
,
,
j
i
j i
Q P
q p
p
Q
q P
| |
c | |
c
=
|
|
|
c c
\ .
\ . ,
,
j
i
j i
X Y
Q P
P
X
Q Y
| |
c | |
c
=
|
|
|
c c
\ .
\ .
,
,
j
i
j i
X Y
q p
p
X
q Y
| |
c | |
c
=
|
|
|
c c
\ .
\ .
Easy to prove
Unrestricted CT
Now we consider a general, time-dependent CT
Lets do it in two steps
First step is t-independent Satisfies the DCs
We must show that the second step satisfies the DCs
( , , )
i i
Q Q q p t = ( , , )
i i
P P q p t =
F
K H
t
c
= +
c
, q p
0 0
( , , ), ( , , ) Q q p t P q p t ( , , ), ( , , ) Q q p t P q p t
Time-independent CT Time-only CT
Fixed time
Unrestricted CT
Concentrate on a time-only CT
Break t t
0
into pieces of infinitesimal time dt
Each step is an ICT Satisfies Direct Conditions
Integrating gives us what we needed
The proof worked because a time-only CT is a continuous
transformation, parameterized by t
( ), ( ) Q t P t
0 0
( ), ( ) Q t P t
0 0
( ), ( ) Q t P t
0 0
( ), ( ) Q t dt P t dt + + ( ), ( ) Q t P t
All Canonical Transformations satisfies the
Direct Conditions, and vice versa
Poisson Bracket
For u and v expressed in terms of q and p
This weird construction has many useful features
If you know QM, this is analogous to the commutator
Lets start with a few basic rules
| |
,
,
q p
i i i i
u v u v
u v
q p p q
c c c c

c c c c
Poisson Bracket
| |
1 1
, ( ) u v uv vu
i i


for two operators u and v
Poisson Bracket Identities
For quantities u, v, w and
constants a, b
[ , ] 0 u u =
| |
,
,
q p
i i i i
u v u v
u v
q p p q
c c c c

c c c c
[ , ] [ , ] u v v u =
[ , ] [ , ] [ , ] au bv w a u w b v w + = +
[ , ] [ , ] [ , ] uv w u w v u v w = +
[ ,[ , ]] [ ,[ , ]] [ ,[ , ]] 0 u v w v w u w u v + + =
Jacobis Identity
All easy to prove
This one is worth trying.
See Goldstein if you are lost
Fundamental Poisson Brackets
Consider PBs of q and p themselves
Called the Fundamental Poisson Brackets
Now we consider a Canonical Transformation
What happens to the Fundamental PB?
[ , ] 0
j j
k k
i i
j k
i i
q q
q
p q
q q
q
q p
c c
c c
=
c c c
=
c
[ , ] 0
j k
p p =
[ , ]
j j
k k
i i i i
j k jk
q q
p p
q p q
q p
p
o
c c
c c
=
c c
=
c c
[ , ]
j k jk
p q o =
, , q p Q P
Fundamental PB and CT
Fundamental Poisson Brackets are invariant under CT
,
[ , ] 0
j j j j j
k k i i
j k q p
i i i i i k i k k
Q Q Q Q Q
Q Q q p
Q Q
q p p q q P p P P
c c c c c
c c c c
= = = =
c c c c c c c c c
,
[ , ] 0
j j j j j
k k i i
j k q p
i i i i i k i k k
P P P P P
P P q p
P P
q p p q q Q p Q Q
c c c c c
c c c c
= = + = =
c c c c c c c c c
,
[ , ]
j j j j j
k k i i
j k q p jk
i i i i i k i k k
Q Q Q Q Q
P P q p
Q P
q p p q q Q p Q Q
o
c c c c c
c c c c
= = + = =
c c c c c c c c c
,
[ , ] [ , ]
j k q p k j jk
P Q Q P o = =
Used Direct Conditions here
Poisson Bracket and CT
What happens to a Poisson Bracket under CT?
For a time-independent CT
| |
,
, ,
,
[ , ] [ , ] [
j j j j
k k k k
j i j i k i k i j i j i k i k i
j k j k j k
Q P
i i i i
j k Q P j k Q P
q p q p
q p q p u u v v u u v v
q Q p Q q P p P q P p P q Q p Q
u v u v u v
q q q p p q
u v u v
u v
Q P P Q
q q q p
c c c c
c c c c c c c c c c c c
+ + + +
c c c c c c c c c c c c c c c c
c c c c c c
c c c c c c
c c c c

c c c c
| | | |
| | | |
=
| |
| |
\ . \ .
\ . \ .
= + +
| |
, ,
,
, ] [ , ]
,
j k
j k j k
j k Q P j k Q P
jk jk
q p
u v
p p
u v u v
q p p q
p q p p
u v
o o
c c
c c
c c c c
c c c c
+
=
=
Poisson Brackets are invariant under CT
Invariance of Poisson Bracket
Poisson Brackets are canonical invariants
True for any Canonical Transformations
Goldstein shows this using simplectic approach
We dont have to specify q, p in each PB
| |
,
,
q p
u v
| |
, u v good enough
ICT and Poisson Bracket
Infinitesimal CT can be expressed neatly with a PB
For a generator G,
On the other hand
We can generalize further
i i
i
G
Q q
p
c
c
= +
c
i i
i
G
P p
q
c
c
=
c
[ , ]
i i
i i
j j j j i
q q G G G
q G q
q p p q p
c c c o
| |
c c c c c
= = =
|
|
c c c c c
\ .
[ , ]
i i
i i
j j j j i
p p G G G
p G p
q p p q q
c c c o
| |
c c c c c
= = =
|
|
c c c c c
\ .
ICT and Poisson Bracket
For an arbitrary function u(q,p,t), the ICT does
That is
[ , ]
ICT
i i
i i
i i i i
u u u
u u u u q p t
q p t
u G u G u
u t
q p p q t
u
u u G t
t
o o o o
c c o
c o
c c c
+ = + + +
c c c
c c c c c
= + +
c c c c c
c
= + +
c
[ , ]
u
u u G t
t
o c o
c
= +
c
Infinitesimal Time Transf.
Hamiltonian generates infinitesimal time transf.
Applying the Poisson Bracket rule
Have you seen this in QM?
If u is a constant of motion,
That is,
[ , ]
u
u t u H t
t
o o o
c
= +
c
[ , ]
du u
u H
dt t
c
= +
c
[ , ] 0
u
u H
t
c
+ =
c
[ , ]
u
H u
t
c
=
c
u is a constant of motion
Infinitesimal Time Transf.
If u does not depend explicitly on time,
Try this on q and p
[ , ] [ , ]
du u
u H u H
dt t
c
= + =
c
[ , ]
i i
i i
j j j j i
p p H H H
p p H
q p p q q
c c c c c
= = =
c c c c c

[ , ]
i i
i i
j j j j i
q q H H H
q q H
q p p q p
c c c c c
= = =
c c c c c

Hamiltons
equations!
Summary
Direct Conditions
Necessary and sufficient
for Canonical Transf.
Infinitesimal CT
Poisson Bracket
Canonical invariant
Fundamental PB
ICT expressed by
Infinitesimal time transf. generated by Hamiltonian
,
,
j
i
j i
Q P
q p
p
Q
q P
| | c | | c
=
|
|
|
c c
\ .
\ . ,
,
j
i
j i
Q P
q p
q
Q
p P
| | c | | c
=
|
|
|
c c
\ .
\ .
,
,
j
i
j i
Q P
q p
p
P
q Q
| | c | | c
=
|
|
|
c c
\ .
\ . ,
,
j
i
j i
Q P
q p
q
P
p Q
| | c | | c
=
|
|
|
c c
\ .
\ .
| |
,
i i i i
u v u v
u v
q p p q
c c c c

c c c c
[ , ] [ , ] 0
i j i j
q q p p = = [ , ] [ , ]
i j i j ij
q p p q o = =
[ , ]
u
u u G t
t
o c o
c
= +
c