Incomplete Dirac reduction of constrained Hamiltonian systems
  First-class constraints constitute a potential obstacle to the computation of a Poisson bracket in Dirac's theory of constrained Hamiltonian systems. Using the pseudoinverse instead of the inverse of the matrix defined by the Poisson brackets between the constraints, we show that a Dirac-Poisson bracket can be constructed, even if it corresponds to an incomplete reduction of the original Hamiltonian system. The uniqueness of Dirac brackets is discussed. 
C. Chandre (CPT)
nlin.CD