Exact invariants and adiabatic invariants of holonomic system in terms of quasi-coordinates

Based on the theory of Lie symmetries and conserved quantities, the exact invariants and adiabatic invariants of holonomic system are studied in terms of quasi-coordinates. The perturbation to symmetries for the holonomic system in terms of quasi-coordinates under small excitation is discussed. The concept of high-order adiabatic invariant is presented, and the form of exact invariants and adiabatic invariants as well as the conditions for their existence are given. Then the corresponding inverse problem is studied.