Constraints in Hamilton's equations

[somy]

My question is about the constraints in Hamiltonian viewpoint. I mean, where the constraints are put into the Hamilton's equations. Constraints are usually studied in Lagrange's equations in textbooks (such as Jose and Goldstein). However, I couldn't find anything about constraints in Hamiltonian viewpoint.
Thanks in advance.

 

[Shooting Star]

When you are constructing L, you do it in terms of generalised co-ordinates, which are the least number of free co-ordinates. The constraints have already been taken into account when constructing L by eliminating some degrees of freedom. When you are using Hamilton’s principle, you are making integral Ldt stationary, and, so here too, the constraints have been taken into account.

For non-holonomic constraints, the treatment may be somewhat different, but the essence is the same.

 

[somy]

Dear Shooting star,
Thanks for writing. But I'm looking for some techniqe jist similar to one we use in Lagrangian viewpoint as undetermined constants and the way we treat with constraint equations there.