In 1994, van der Schaft and Maschke defined a(n) (almost) Poisson structure for the study of constrained port controlled Hamiltonian systems as systems obtained by reduction. This note intends to provide a geometrical framework that justifies such construction, based on the use of Lie algebroids, and which extends the work presented in [3].
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机译：1994年，van der Schaff和Maschke定义了一种（n）（几乎）泊松结构，用于研究受限端口控制的汉密尔顿系统，因为通过减少获得的系统。本说明旨在提供一种几何框架，其基于使用Lie代数的使用证明这种结构，并且延伸了[3]中所示的作品。
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