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E. Vidal:Ann. Inst. Four. (Univ. Grenoble),17, 129 (1967), and references therein. See as well ref. (5) of this paper. The regularity condition is, in fact, equivalent to the requirement that the leaves generated by the two vector fieldsX andS of formula (16) are differentiable manifolds or that the surface defined byI(x,y,y’) = k are, as well, differentiable manifolds.
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González-Gascón, F., Moreno-Insertis, F. & Rodrjguez-Camino, E. Geometrical foundations and results on a problem suggested in a paper by Andersonet al. . Lett. Nuovo Cimento 21, 595–599 (1978). https://doi.org/10.1007/BF02763104
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DOI: https://doi.org/10.1007/BF02763104