Symmetries and constants of the motion for dynamics in implicit form
Annales de l'I.H.P. Physique théorique, Tome 57 (1992) no. 2, pp. 147-166. 
@article{AIHPA_1992__57_2_147_0,
     author = {Marmo, G. and Mendella, G. and Tulczyjew, W. M.},
     title = {Symmetries and constants of the motion for dynamics in implicit form},
     journal = {Annales de l'I.H.P. Physique th\'eorique},
     pages = {147--166},
     publisher = {Gauthier-Villars},
     volume = {57},
     number = {2},
     year = {1992},
     mrnumber = {1184887},
     zbl = {0766.58020},
     language = {en},
     url = {http://archive.numdam.org/item/AIHPA_1992__57_2_147_0/}
}
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Marmo, G.; Mendella, G.; Tulczyjew, W. M. Symmetries and constants of the motion for dynamics in implicit form. Annales de l'I.H.P. Physique théorique, Tome 57 (1992) no. 2, pp. 147-166. http://archive.numdam.org/item/AIHPA_1992__57_2_147_0/

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