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Canonical Transformation :
The transformation of coordinates in a 2ndimensional phase space, containing the time variable t as
a parameter
q i  q i (t,q k , p k ) 
 …(1) for i = 1, 2, …, n
p i  p i (t,q k , p k ) 
With the condition that
 (q 1 , p 1 , q 2 , p 2 ,...q n , p n )
0
 (q1 , p1 , q 2 , p 2 ,..., q n , pn )
is called canonical if it carries any Hamiltonian system
dq i H dpi H
 ,  (i = 1, 2,3, …, n) …(2)
dt pi dt q i
Again into a Hamiltonian system
dq i H dp i H 
 ,  (i = 1, 2, …, n) …(3)
dt p i dt q i
Remark : (i) In equation (3), H  is another Hamiltonian system.
(ii) The importance of studying canonical transformation is due to the fact that these transformations
permit replacing a given Hamiltonian system (2) by another Hamiltonian system (3) in which the
function H is of a simpler structure than H.
(iii) Canonical transformations are also called contact transformations.
Example : The transformation q i  q i , p i   pi (i  1, 2,..., n)   0,   0 is canonical, where  and
 are constants.
Solution. Suppose we have a Hamiltonian system
dq i H dp H
 and i  (i = 1, 2, 3, …, n)
dt pi dt q i
dq i dq H H p i H 
Then  i      ( H)
dt dt pi p i pi p i p i
dp i dp H H q i H 
and   i        ( H)
dt dt q i q i qi q i q i
So, we have
dq i  dp i 
 (H),  (H) …(3)
dt p i dt q i
Hence the given transformation is canonical. It transforms the system (2) into system (3) with
   H .
H
Example : The transformation q i  pi , p i   q i (i  1, 2,..., n) …(1)
  0,   0 is canonical.
Solution : Suppose, we have a Hamiltonian system
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dq i H dp i H
 ,  (i  1, 2,..., n) …(2)
dt pi dt q i
q i dpi H H p i H  
Then         ( H) 
dt dt q i p i q i p i p i 
 ….(3)
dp i dq i H H q i H 
and       ( H) 
dt dt pi q i pi q i q i 
Hence the given transformation is canonical. It transforms the system (2) into system (3) with
   H .
H
1 
Example : Show that the transformation Q = log  sin p  , P = q cot p is canonical.
q 
Solution : The Hamilton equations are
 dq H  dp H
q  , p  , where H is Hamiltonian function.
dt p dt q
 dp 

 q cos p  sin p q 

1 d 1  q dt
Now Q  sin p    
1
sin p dt  q  sin p  q2 
q  

 q
= pcot p 
q
H 1 H H P 1 H P
=  cot p   ( cot p) 
q q p P q q P p
H H
= ( cot 2 p)  cos ec 2 p
P P
H H
= (cos ec 2 p  cot 2 p) 
P P
   H H
and P  q( cos ec 2p) p  cot pq  q cos ec 2p  cot p
q p
H Q H Q
= q cos ec 2 p  cot p
Q q Q p
1 H H H
=   q cos ec 2 p  cot 2 p  .
q Q Q Q
Hence the transformation is canonical.
1 2 q
Example : Prove that P  (p  q 2 ), Q  tan 1   is canonical.
2 p
Solution : The Hamilton equations are
 H  H
q and p   , where h is Hamiltonian function.
p q
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 

  1  p H  q H 

1  q p  pq
We have, Q
q2  p 2
 p 2  q 2  p q 
1 2  
p
1  H P H P  1 2 2 h
=  p P p  q P q   p 2  q 2 [p  q ] p
p  q2
2
 
H
= .
P
   H H H Q H Q
and P  p p q q   p q  p q
q p Q q Q p
 
H  1 1 1  q 
= p    q   
Q  q2 p q2  p2  
 1  p2 1 2
p 
 
H   p 2 q2  H
=  2 2
 2 2
 .
Q  p  q p q  Q
Hence the transformation is canonical.
Example : For what values of  and , Q = q cos (p), P = q sin (p) represent a canonical
transformation.
Solution : We have
  
Q  q 1 q cos( p)   q  psin( p)
H H
= q 1 cos(p)  q  sin(p)
p q
H
= [q 1q  cos 2 p  q  q 1 sin 2 p]
p
 H
 Q  q 21
P
The given transformation is canonical if
 H H H
Q i.e. if q 21 
P P P
1
i.e. if q21 = 1 i.e. if  = and  = 2.
2
Theorem : A necessary and sufficient condition for the transformation
q i  q i (t,q k , p k ), 
 (i = 1, 2, …, ) …(1)
p i  p i (t,q k , p k ) 
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 (q 1 , p 1 ,q 2 , p 2 ,...,q n , p n )
with 0
 (q1, p1,q 2 , p 2 ,...,q n , p n )
to be canonical is the existence of a generating function F and some constant c for which the equation
n n
   t  c  p q  Ht   F

i 1
p i  q i  H  i i
 i 1


is identically satisfied by the virtue of the transformation (1).
Proof : Consider two extended t c t c
(2n + 1) dimensional phase c0
spaces (qi, pi, t) and (q i , p i , t) one
passing into the other under the c 0
canonical transformation (1) and
two tubes of straight line paths of p1 p 1
Hamiltonian systems q1 q 1

dq i H dpi H
 ,  …(2)
dt pi dt pi
dq i H dp i H
and  ,  , i = 1, 2, …, n …(3)
dt p i dt p i
Let us take two arbitrary closed contours.
c and c that bound these tubes and correspond to one another by virtue of transformation (1).
Furthermore, cut both tubes with one and the same hyperplane t = constant. In the crosssection, we
get two planes c0 and c 0 . These contours likewise pass one into the another under the canonical
transformation given by (1), since the quantity t remains unchanged in a canonical transformation.
From the invariance of PoincareCarton Integral Invariant, it follows that
 n  n

   pi q i  Ht    
 piqi …(4)
 c i 1  c0 i 1
 n   n

   i i
p q  H t  
   p i q i …(5)
c i 1  c0 i 1

n
On the other hand, if in the universal integral invariant   p q
i 1
i i , we pass to the variables qi, pi (i =

1, 2, …, n) by means of canonical transformation (1), then this integral will pass into a certain
universal integral invariant of the first order in 2ndimensional phase space, then by LeHwaChung
theorem, we have
n n

  p i q i  c  piqi

c 0 i 1 c0 i 1
…(6)

Using this in (4) and (5), we get

 n  t   c   p q  Ht 
  p i q i H  i i …(7)
 c i 1  c 
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If in the first variable, we consider the variables q 1 , q 2 ,..., q n , p 1 , p 2 ,..., p n to be expressed in terms of
variables q1, q2, .., qn, p1, p2, …, pn so that the path of integration c, then the equation (7) can be
written as
 n   n 
  
p i q i  H  t   c   p1q i  Ht  = 0 …(8)
 c i 1   i 1 
But c is a absolutely arbitrary contour in a (2n+1)dimensional extended phase space. Therefore, the
expression under the integral sign in (8) must be a total differential of some function of (2n +1)
arguments q1, p1, q2, p2, …, qn, pn and time t, say F(t, qi, pi), then we can write
 n n
 t   c  p q  Ht   F
 i i 
p  
q  H   i i 
 i 1   i 1 
n
   t  c  p q  Ht   F
  i i
p q  H  i i
 i 1


…(9)

Hence a necessary and sufficient condition for the transformation (1) to be canonical is the existence
of a generating function F and some constant c for which the equation (9) is identically satisfied by the
virtue of transformation.
The constant c is called the valence of the canonical transformation under consideration. The
canonical transformation will be called univalent if c = 1.
Free canonical transformation : The canonical transformation
q 1  q i (t, q k , p k ) 
 for i = 1, 2, …, n …(1)
p 1  p i (t, q k , p k ) 
 (q 1 , q 2 ,..., q n )
is called free if 0 …(2)
 (p1 , p 2 ,..., p n )
This condition ensures the independence of the quantities t, q1, q2, …, qn, q 1 , q 2 ,..., q n which can now
be taken as the basic variables. Infact because of (2), we can express the generalized momenta p1, p2,
…, pn in terms of (2n + 1) quantities t, qi, q i (i = 1, 2, …, n) using the equations.
q i  q i (t,q k , p k ) for i = 1, 2, …, n
Consequently, the generating function F for a free canonical transformation is represented as a
function S of t, qi, q i that is
F(t, q i , pi )  S(t, q i , q i )
So, the basic identity (9) is written as :
n n
 t  c  p q  Ht   S(t, q , q )
 p q
i 1
i i H  
 i 1
i i 

i i

 n  n  S S  S
= c   pi q i  Ht     q i    t
 i 1  i 1  q i q i  t
Equating coefficients of qi, q i and t on both sides, we get
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S S   cH  S , for i = 1, 2, …, n
 cpi ,   p i , H
q i q i t
For univalent free canonical transformation, these becomes
S S   H  S , for i = 1, 2, …, n
 pi ,   p i , H
q i q i t
Example : The canonical transformation
q i  pi , p i   qi for i = 1, 2, …, n is free where   0,   0
q 1 q 1 q 1
...
p1 p 2 p n
q 2 q 2 q 2
...
 (q 1 , q 2 ,..., q n ) p1 p 2 p n
Solution : Since 
 (p1 , p 2 ,..., p n ) ... ... ... ...
... ... ... ...
q n q n q n
...
p1 p 2 p n
q i
Now   for i = 1, 2, …, n
p i
 0 ... 0
0  ... 0
 (q 1 , q 2 ,..., q n )
So  ... ... ... ...   n  0
 (p1 , p 2 ,..., p n )
... ... ... ...
0 0 ... 
HamiltonJacobi Equations : Let there be given a holonomic system whose motion obeys the
canonical equations of Hamilton
dq i H dpi H
 ,  for i = 1, 2, …, n …(1)
dt pi dt q i
We shall try to find a free univalent canonical transformation such that in the transform Hamiltonian
system
dq i H dp H
 , i  for i = 1, 2, …, n …(2)
dt p i dt q i
The function H will be identically zero i.e. H
 =0 …(3)
Using (3), equation (2) reduces to
dq i dp
 0, i  0 (i = 1, 2, …, n)
dt dt
Integrating, q i  i , p i  i
where i and i are 2n arbitrary constants.
Knowing the canonical transformation i.e. the relation between qi, pi, (i = 1, 2, …, n) and q i , p i (i = 1,
2, …, n), we can express all the qi and pi as functions of time t and of the 2n arbitrary constants k,
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k(k = 1, 2, …, n) i.e. we can find the final equations of motion of the given holonomic system
completely.
We know that for a univalent free canonical transformation there exist a generating function S =
S(t, q i , q i ) such that

  S  H, S  p , S   p (i = 1, 2, …, n)
H …(4)
q i
i i
t q i
To determine the required free canonical transformation it is necessary and sufficient that the equation
S
 H(t, q i , pi )  0 …(5)
t
hold for the generating function S(t, q i , q i ) of the desired transformation. The equation (5) together
with (4) yields
S S
 H(t, q i , )0
t q i
This is called HamiltonJacobi equation.
Thus, the generating function S (t, q i , q i ) with basic variables t, qi satisfy the partial differential
equation of HamiltonJacobi.
JacobiTheorem : If S(t, qi, i) is some complete integral of the HamiltonJacobi equation
S   S
 H  t, q i ,
0
t   q i
Then the final equations of motion of a holonomic system with the given function H may be written in
the form
S S
 pi ,  i (i = 1, 2, …, n)
q i 1
and I and I are arbitrary constants.
Lagrange Brackets : For the given 2n functions I, I (i = 1, 2, …, n) of two variables q and p,
Lagrange bracket is defined as
n
   i i  i  n (i ,  i )
[q p]    i  
i 1  q p p q  i 1 (q, p)
Note : 1) [q p] = [p q]
2) Comparing Lagrange bracket with Poisson bracket, we find that there are 2 functions  and  of 2n
variables qi, pi (i =1,2,…,n) for Poisson bracket, whereas there are 2n functions i, i (i = 1, 2, …, n)
of two variables. q, p for Lagrange bracket.
Theorem : Prove that Lagrange bracket is invariant under a free univalent canonical transformation.
Proof : Let q i  q i (t,q k , p k ), p i  p i (t,q k , p k ) , (i = 1, 2, …, n) be a free canonical transformation with
generating function S = S(t, q k , q k ) , then
S S
 pi ,   p i …(*)
q i q i
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Let qi, pi be functions of variables u and v, then
pi n
 2S q k n  2S q k
 
u k 1 q k q i u k 1 q k qi u
pi n
 2S q k n  2S q k
and  
v k 1 q k q i v k 1 q k q i v
Therefore
q i q i
n n
 (q i ,p i ) u v
[u v]qi ,pi   
i 1 (u, v) i 1 p i p i
u v

q i pi q i  2S q k  2S q k

n
u u
n u q k q i u q kqi u
= 
i 1 q i

pi i,k1 q i  2S q k  2S q k

v v v q k q i v q kqi v
q i q k q i q k
2
n
 S u u n
 2S u v
=   …(1)
i,k 1 q k q i q i q k i,k 1 q k q i q i q k
v v v v
q i q k
n 2
 S u u
Let A 
i,k 1 q k q i q i q k
v v
q k q i
 2S u
n
u
=  = A
i,k 1 q i q k q k q i
v v
 2A = 0  A=0
So (1) implies
q i q k
n 2
 S u u
[u v]qi ,pi 
 k q i qi
i,k 1 q q k
v v
q i q k q i q k
2
n
 S u u  2S u u
=  
 k q i q i
i,k 1 q q k q k q i q i q k
v v v v
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 2S q i  2S q i q k

n q k q i u q k q i u u
= 
i,k 1  2S q i  2S q i q k

q k q i v q k q i v v

  S  q i   S  q i q k
    
n q i  q k  u q i  q k  u u
= 
i,k 1   S  q i   S  q i q k
    
q i  q k  v q i  q k  v v

  S  q k
 
n u  q k  u
= 
i,k 1   S  q k
 
v  q k  v
p k q k q k p k
n  n
u u u u
= 
k 1 p q k k 1 q k p k
 k
v v v v
n
(q k , p k )
=  [u, v]q i , p i
k 1  (u, v)

Hence Lagrange bracket is invariant under a free univalent canonical transformation.

Canonical character of a transformation in terms of Lagrange brackets :
We derive the necessary and sufficient conditions that must be satisfied by 2nindependent
functions namely
q i  i (t, q k , p k )
i = 1, 2, …, n …(1)
p i   i (t, q k , p k )
so that the transformation defined by these functions should be canonical.
First suppose that the transformation (1) is canonical, then  a constant c and a function F such that
n n
   t  c  p q  Ht   F(t, q , p )

i 1
p i q i  H  i i
 i 1


i i …(2)

Take an arbitrary fixed value of t, say t , then (2) implies

n n

 p i q i  c pi qi  F[ t , qi , pi )   t  0

i 1 i 1
…(3)

But (3) is a defining identity for a transformation that does not contain the time explicitly,
q i  i ( t , q k , p k ), p i   i ( t , q k , p k ) i = 1, 2,…, n …(4)
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___________________________________________________________________________
Thus (4) defines a canonical transformation with valence c which is independent of the chosen value
of t = t . Now suppose that all transformations obtained from (1) by replacing the variable t by
various fixed valued of t are canonical and with one and same valence c, then we can say that
n
 n 
 
p i q i  c   pi qi   F( t , q i , pi ) …(5)
i 1  i 1 
n
 q q 
where q i    i q k  i p k 
i 1  q k p k 
  cH  F   p q i
n
 as H
Define the function H …(6)
i
t i 1 t
(5) and (6) implies that
 n  t   c  p q   F  cHt  F t  p q i t
n n

 i i 
p q  H   i i   i
 i 1   i 1  t i 1 t
 q i    n 
  p  q
i i 
t 
t   Ht  c   pi q i  Ht   F(t, qi , pi )
 i 1 

or  p q  t  c( p q  Ht)  F(t, q , p )

H
i i i i i i

This shows that the transformation (1) that depends upon the time t is canonical.
Thus for time dependent transformation (1) to be canonical, it is necessary and sufficient that all the
time dependent transformations obtained from (1) by replacing t with an arbitrary value of t be
canonical and with one and the same valence c.
For this reason, while establishing tests for canonical character, we confined ourselves to canonical
transformations that do not contain the time variable t explicitly,
q i  i (q k , p k )
i = 1, 2, …, n …(7)
p i   i (q k , p k )
 (q i , q 2 , ..., q n , p 1 , p 2 ,..., p n )
where 0
(q1 , q 2 ,..., q n , p1 , p 2 ,..., p n
so  a constant c and a generating function K(qk, pk) such that
n
 n 
 
p k  
q k  c   p k q k   K(q k , p k ) …(8)
k 1  k 1 
n
 q q 
But q k    k qi  k pi 
i 1  q i pi 
n
 n
q k q k   n 
So (8) implies  p   q
k q i 
pi
pi   c   pi q i   K(q k , p k )
 i 1 
k 1  i 1 i 
n
  n q k  n
 q k  
    k 
p  cp i q i    p k  pi   K(q k, p k )
i 1   k 1 q i  k 1  pi  
n
i.e.  (F q
i 1
i i  G i pi )  K(q k, p k ) …(9)

Now (9) shows that L.H.S. of it must be differential. For this we must have
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Fi Fk G i G k Fi G k

 ,  ,  (i, k = 1, 2, …, n)
q k qi p k pi p k qi
Fi Fk
Now, let us see that 
q k q i
  q 1 q q    q 1 q q 
 p 1  p 2 2  ...  p n n  cpi  =  p i  p 2 2  ...  p n n  cp k 
q k  q i q i q i  q i  q k q k q k 
p 1 q 1 p 2 q 2 p q p q p q p q
   ...  n n  1 1  2 2  ...  n n [ other terms cancel]
q k q i q k q i q k q i q i q k qi q k q i q k
n
 q j p j q j p j 
  
j1  q i q k

q k q i 
0  [qi qk] = 0

G i G k
Similarly, we can say that 
p k pi
n
 q j p j q j p j 
   p
j1  p

 p p
0  [pi pk] = 0
i k k i 

Fi G k n
 q j p j q j p j 
and     q    ci k
p k q i j1  i p k p k q i 
where ik is Kronecker’s symbol and c is the valence of the transformation.
Hence necessary and sufficient conditions for (5) to be canonical are
[qi qk] = 0
[pi pk] = 0
[qi pk] = cik for i, k = 1, 2, …, n
Conditions of canonicity of a transformation in terms of Poisson brackets :
Consider the Jacobian matrix of canonical transformation
 q 1 q 1 q 1 q 1 q 1 
 q ... ...
q 2 q n p1 p n 
 1 
 q 2 q 2 q 2 q 2 q 2 
 q ... ...
q 2 q n p1 p n 
 1 
 q n q n q n q n q n 
 q ... ...
q 2 q n p1 p n 
M= 
1
 p 1 p 1 p 1 p 1 p 1 
 ... ... 
 q1 q 2 q n p1 p n 
 ... ... ... ... ... ... ... 
 
 ... ... ... ... ... ... ... 
 p p n p n p n p n 
 n ... ... 
 q1 q 2 q n p1 p n 
 12
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 q q 
 q p  q  q i 
n

=   where   is a Jacobian matrix of order n.

 p p  q  q k  i,k 1
 q p 

n
q  q i 
  is a Jacobian matrix of order n.
p  p k  i,k 1
p p
Similarly for and
q p
Let us consider a matrix
0 0 ... 0 1 0 ... 0
0 0 ... 0 0 1 ... 0 

... ... ... ... ... ... ... ... 
 
... ... ... ... ... ... ... ... 
0 0 ... 0 0 0 ... 1
J=   be a matrix of order 2n.
1 0 ... 0 0 0 ... 0
0 1 ... 0 0 0 ... 0
 
... ... ... ... ... ... ... ... 
... ... ... ... ... ... ... ... 
 
 0 0 ... 1 0 0 ... 0 

If E is a unit matrix of order n, then

 0 E 
J=  
E 0 
We claim that M'JM = CJ
 q  ' '
 p  
   
 q   q    0  E 
Now M'J =  ' '  
 q   p    E 0 
 p   
   p  
 p ' '
 q  
    
 q   q  
=  ' '
  p   q  
  
  p 
   p  
 p ' '
 q    q   p  
        
 q   q    q   q  
Therefore M'JM =  '
'  q   p  
  p   q    
  p      
   p    p   p  
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 p  '  q   q '  q   p 

' '
 p  
 p   q 
               
 q   q   q   p   q   q   q 
 p  
=  ' ' ' ' 
  p   q    q   q   p   p   q   p  
  p   q   p   p          
         p   q   p   p  
Now
' '
 p   q   q   q  n  p j q j q j p j  n
           = [q i q k ]i,k 1  0
 q   q   q  p 
  j1  i kq  p q i  q k  i,k 1

' '
 p   p   q   p  n
          [q i pk ]i,k 1  cE
 q   q   q   p 
' `
 p   q   q   p  n
        [q i p k ]i,k 1  cE
 p   q   p   q 
' '
 p   p   q   p  n
          [p i p k ]i,k   0
 p   q   p   p 
 0 cE 
So M'JM =   cJ …(1)
 cE 0 
i.e. M'JM = cJ …(1)
1 1 1
Multiplying both sides of (1) by (M ) on the left and M on the right, we get
J = (M')1 (cJ) (M1)
1
i.e. (M')1 JM1 = J
c
1
Taking inverse on both sides and using J = J, we get
MJM' = cJ …(2)
Thus the equality MJM' = cJ is obtained from (1) replacing M by M'.
q i q i p i p i
But this substitution reduces to replacing the derivatives , , , replacing the
q k p k q k p k
q k p k q k p k
derivatives , , , .
q i q i pi pi
In other words, in each derivative, the letter and indices above and below are interchanged. Thus, if
the equation M'JM = cJ was equivalent to the system of equalities
[q i q k ]  0, [pi p k ]  0, [q i p k ]  cik , i, k = 1, 2, …, n
then (2) will be equal to the system of equalities
[q i q k ]*  0, [pi p k ]*  0, [qi p k ]*  cik , i, k = 1, 2, …, n
where * indicates the above mentioned interchange of derivatives is to be performed within Lagrange
brackets, but
 14
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*
 q p j q j p j 
n
[q i q k ]    j
*
 
j1  q i q k q k q i 
 q i q k q i q k 
n
=   q
   (q i q k )
j1  j p j p j q j 
where (q i q k ) is Poisson bracket of the functions q i and q k w.r.t. the independent variables q1, q2, …,
qn, p1, p2, …, pn. Similarly,
[pi p k ]*  (p i p k )
and [q i p k ]*  (q i p k )
Hence conditions for canonicity of a transformation may be written as
(q i q k )  0
(p i p k )  0
(q i p k )  cik , i,k = 1, 2, …, n
Article : Prove that Poisson brackets are invariant under univalent canonical transformation.
Proof : Let us consider two functions  and  of the quantities qi, pi (i = 1, 2, …, n) and t.
Let q i  q i (t, q k , p k ) for i = 1, 2, …, n
p i  p i (t, q k , p k )
be a canonical transformation with valence c. We first proved that ( ) = c( )~
where (, ) is Poisson bracket w.r.t. variables qi, pi and (, )~ is Poisson bracket w.r.t. the variables
q i , p i , we have

 (,  ) n 
 (,  )  (q i , q k ) (,  ) (p i , p k ) 
  
 (q j , p j ) i,k 1  (q i , q k )  (q j , p j )  (p i , p k )  (q j , p j ) 
n
(,  ) (q i , p k )
+   (q , p for j = 1, 2, …, n
i,k 1 i k )  (q j , p j )

Summing over j = 1, 2, …, n, we get

n n
(,  )  (,  ) (,  )
( ) =   (q , q (q i , q k )  (p i p k ) +   (q , p ) (q p )
(p i , p k )
i k
i,k 1 i k) i,k 1 i k
n
 (,  )
= c
 i , p i )
i 1  (q

[ (q i , q k )  0, (p i p k )  0, (q i p k )  cik

= c(  ) ~
For a univalent canonical transformation c = 1, and so
( ) = ( )~