A Hamilton-Jacobi Theory for Singular Lagrangian Systems in the Skinner   and Rusk Setting
  We develop a Hamilton-Jacobi theory for singular lagrangian systems in the Skinner-Rusk formalism. Comparisons with the Hamilton-Jacobi problem in the lagrangian and hamiltonian settings are discussed. 
Manuel de Le\'on, David Mart\'in de Diego, Miguel Vaquero
math-ph math.MP