Hamilton has introduced what he has called the "Principal Function S", which is used in his variational principle on which the Lagrangian formulation is based.
Nowadays this function is frequently called "Hamilton's action", though this is not a good idea because it causes confusions with what Hamilton, like all his predecessors, called "action", which is the integral of the kinetic energy.
The "Principal Function S", which is a scalar value, i.e. a relativistic invariant quantity, is the line integral of the Lagrangian over the trajectory in space-time, i.e. it is the line integral of the energy-momentum 4-vector over the trajectory in space-time.
Like any line integral of a vector, the line integral of the energy-momentum 4-vector is equal to the line integral over the trajectory of its projection on that trajectory.
This is why the Lagrangian is the projection of the energy-momentum 4-vector. Hamilton has found the correct form of this line integral in relativistic theory, even if that was about 3 quarters of century before the concept of 4-vectors became understood.
The "Principal Function S", i.e. the integral of the energy-momentum, can be considered as a more fundamental quantity than the Lagrangian, which is its derivative (the energy-momentum vector is its gradient). In quantum mechanics the "Principal Function S" is the phase of the wave function, so it is even more obvious that it must be an invariant quantity.
Nowadays this function is frequently called "Hamilton's action", though this is not a good idea because it causes confusions with what Hamilton, like all his predecessors, called "action", which is the integral of the kinetic energy.
The "Principal Function S", which is a scalar value, i.e. a relativistic invariant quantity, is the line integral of the Lagrangian over the trajectory in space-time, i.e. it is the line integral of the energy-momentum 4-vector over the trajectory in space-time.
Like any line integral of a vector, the line integral of the energy-momentum 4-vector is equal to the line integral over the trajectory of its projection on that trajectory.
This is why the Lagrangian is the projection of the energy-momentum 4-vector. Hamilton has found the correct form of this line integral in relativistic theory, even if that was about 3 quarters of century before the concept of 4-vectors became understood.
The "Principal Function S", i.e. the integral of the energy-momentum, can be considered as a more fundamental quantity than the Lagrangian, which is its derivative (the energy-momentum vector is its gradient). In quantum mechanics the "Principal Function S" is the phase of the wave function, so it is even more obvious that it must be an invariant quantity.