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A geometric setup for constrained variational calculus is presented. The analysis deals with the study of the extremals of an action functional defined on piecewise differentiable curves, subject to differentiable, non-holonomic constraints. Special attention is paid to the tensorial aspects of the theory. As far as the kinematical foundations are concerned, a fully covariant scheme is developed through the introduction of the concept of infinitesimal control. The standard classification of the extremals into normal and abnormal ones is discussed, pointing out the existence of an algebraic algorithm assigning to each admissible curve a corresponding abnormality index, related to the co-rank of a suitable linear map. Attention is then shifted to the study of the first variation of the action functional. The analysis includes a revisitation of Pontryagin's equations and of the Lagrange multipliers method, as well as a reformulation of Pontryagin's algorithm in hamiltonian terms. The analysis is completed by a general result, concerning the existence of finite deformations with fixed endpoints., Comment: 30 pages. arXiv admin note: substantial text overlap with arXiv:0705.2362

In this paper we investigate the evolution of the concept of area in Peano's works, taking into account the main role played by Grassmann's geometric-vector calculus and Peano's theory on derivative of measures. Geometric (1887) and bi-vectorial (1888) Peano's approaches to surface area mark the development of this topic during the first half of the last century. In the sequel we will present some significative contributions on surface area that are inspired and/or closely related to Peano's definition., Comment: 20 pages, 3 figures

A gauge-invariant formulation of constrained variational calculus, based on the introduction of the bundle of affine scalars over the configuration manifold, is presented. In the resulting setup, the Lagrangian is replaced by a section of a suitable principal fibre bundle over the velocity space. A geometric rephrasement of Pontryagin's maximum principle, showing the equivalence between a constrained variational problem in the state space and a canonically associated free one in a higher affine bundle, is proved., Comment: 21 pages

Within the geometrical framework developed in arXiv:0705.2362, the problem of minimality for constrained calculus of variations is analysed among the class of differentiable curves. A fully covariant representation of the second variation of the action functional, based on a suitable gauge transformation of the Lagrangian, is explicitly worked out. Both necessary and sufficient conditions for minimality are proved, and are then reinterpreted in terms of Jacobi fields.

In this paper a construction of affine exterior algebra of Grassmann, with a special attention to the revisitation of this subject operated by Peano and his School, is examined from a historical viewpoint. Even if the exterior algebra over a vector space is a well known concept, the construction of an exterior algebra over an affine space, in which points and vectors coexist, has been neglected. This paper wants to fill this lack. Some attention is given to the introduction of defining by abstraction (today called definition by quotienting or by equivalence relation), a procedure due to and used by Peano to define geometric forms, basic elements of an affine exterior algebra. This Peano's innovative way of defining, is a relevant contribution to mathematics. It is observed that in the construction of an affine exterior algebra on the Euclidean three-dimensional space, Grassmann and Peano make use of metric concepts: an accurate analysis shows that, in some cases, the metric aspects can be eliminated, putting into evidence the sufficiency of the underlying affine structure of the Euclidean space. In the final part of the paper some geometrical and mechanical applications and interpretations of the affine exterior algebra given by Grassmann and Peano are presented., Comment: 25 page, on the occasion of the 150th anniversary of the birth of Giuseppe Peano (1858-1932)

By retracing research on coexistent magnitudes (grandeurs coexistantes) by Cauchy (1841), Peano in "Applicazioni geometriche del calcolo infinitesimale" (1887) defines the "density" (strict derivative) of a "mass" (a distributive set function) with respect to a "volume" (a positive distributive set function), proves its continuity (whenever the strict derivative exists) and shows the validity of the mass-density paradigm: "mass" is recovered from "density" by integration with respect to "volume". It is remarkable that Peano's strict derivative provides a consistent mathematical ground to the concept of "infinitesimal ratio" between two magnitudes, successfully used since Kepler. In this way the classical (i.e., pre-Lebesgue) measure theory reaches a complete and definitive form in Peano's Applicazioni geometriche. A primary aim of the present paper is a detailed exposition of Peano's work of 1887 leading to the concept of strict derivative of distributive set functions and their use. Moreover, we compare Peano's work and Lebesgue's "La mesure des grandeurs" (1935): in this memoir Lebesgue, motivated by coexistent magnitudes of Cauchy, introduces a uniform-derivative of certain additive set functions, a concept that coincides with Peano's strict derivative. Intriguing questions are whether Lebesgue was aware of the contributions of Peano and which role is played by the notions of strict derivative or of uniform-derivative in today mathematical practice., Comment: 30 pages, on the occasion of the 150th anniversary of the birth of Giuseppe Peano (1858-1932)

A geometric setup for control theory is presented. The argument is developed through the study of the extremals of action functionals defined on piecewise differentiable curves, in the presence of differentiable non-holonomic constraints. Special emphasis is put on the tensorial aspects of the theory. To start with, the kinematical foundations, culminating in the so called variational equation, are put on geometrical grounds, via the introduction of the concept of infinitesimal control . On the same basis, the usual classification of the extremals of a variational problem into normal and abnormal ones is also rationalized, showing the existence of a purely kinematical algorithm assigning to each admissible curve a corresponding abnormality index, defined in terms of a suitable linear map. The whole machinery is then applied to constrained variational calculus. The argument provides an interesting revisitation of Pontryagin maximum principle and of the Erdmann-Weierstrass corner conditions, as well as a proof of the classical Lagrange multipliers method and a local interpretation of Pontryagin's equations as dynamical equations for a free (singular) Hamiltonian system. As a final, highly non-trivial topic, a sufficient condition for the existence of finite deformations with fixed endpoints is explicitly stated and proved., Comment: replaced by the more recent article arXiv:1503.08808