Scope of the action principle

Laws of motion given in terms of differential equations can not always be derived from an action principle, at least not without introducing auxiliary variables. By allowing auxiliary variables, e.g. in the form of Lagrange multipliers, an action is immediately obtained. Here, we consider some ways how this can be done, drawing examples from the literature, and apply this to Bohmian mechanics. We also discuss the possible metaphysical status of these auxiliary variables. A particularly interesting approach brings the theory in the form of a gauge theory, with the auxiliary variables as gauge degrees of freedom.