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The modeling framework of port-Hamiltonian systems is systematically extended to constrained dynamical systems (descriptor systems, differential-algebraic equations). A new algebraically and geometrically defined system structure is derived. It is shown that this structure is invariant under equivalence transformations, and that it is adequate also for the modeling of high-index descriptor systems. The regularization procedure for descriptor systems to make them suitable for simulation anddoi:10.14279/depositonce-14664 fatcat:rlq3vepoc5cjxmlyuiaj5q64wq