What you have written is not clear. Is "Li" a single function or is this the constant, L, times the function i?
If the latter this is easy. L\int_{-\infty}^t i(\tau) (di/d\tau)d\tau= L\int_{-\infty}^t i di = L\left[(1/2)i^2(\tau)\right]_{\infty}^t which, if \lim_{\tau\to\infty} i(\tau)= 0 is (1/2)i^2(\tau)
If Li is a single function, then it is NOT always true.
I'm reviewing Meirovitch's "Methods of Analytical Dynamics," and I don't understand the commutation of the derivative from r to dr:
$$
\mathbf{F} \cdot d\mathbf{r} = m \ddot{\mathbf{r}} \cdot d\mathbf{r} = m\mathbf{\dot{r}} \cdot d\mathbf{\dot{r}}
$$