The invariant manifolds of systems with first integrals

Several additional possibilities of the Routh–Lyapunov method for isolating and analysing the stationarity sets of dynamical systems admitting of smooth first integrals are discussed. A procedure is proposed for isolating these sets together with the first integrals corresponding to the vector fields for these sets. This procedure is based on solving the stationarity equations of the family of first integrals of the problem in part of the variables and parameters occurring in this family. The effectiveness of this approach is demonstrated for two problems in the dynamics of a rigid body.