M. Deleon et Dm. Dediego, SYMMETRIES AND CONSTANTS OF THE MOTION FOR SINGULAR LAGRANGIAN SYSTEMS, International journal of theoretical physics, 35(5), 1996, pp. 975-1011
A classification of infinitesimal symmetries of singular autonomous an
d nonautonomous Lagrangian systems is obtained. The relationship betwe
en infinitesimal symmetries and constants of the motion is given.