Generalized DAlembert-Lagranges principle for non-holonomic mechanics, including its Newtons formulation and Lagrangian formulation, are given. This principle can lead to the closed motion equations.

• 提出非完整力学的广义达朗贝尔-拉格朗日原理，包括其牛顿表述和拉格朗日表述。此原理能导出态空间封闭的运动方程组。