An Euler-Lagrange Equation I have an action with a Lagrangian which I would like to apply the Euler-Lagrange equations to https://en.wikipedia.org/wiki/Euler%E2%80%93Lagrange_equation but have spent hours really struggling with it. That is I define
$$
L\Big(\begin{pmatrix}x \\ y\end{pmatrix},\begin{pmatrix} \dot{x} \\ \dot{y}\end{pmatrix} \Big):= \Big\| A \Big( \begin{pmatrix}x \\ y\end{pmatrix} +  \begin{pmatrix} -\dot{y} \\ \beta\dot{y}\end{pmatrix}  \Big) \Big\|^2
$$
where
$$
A=\begin{pmatrix} c_1 & c_2 \\ c_2 & c_3 \end{pmatrix}, \text{for some }~c_i~\text{for which $A$ is invertible}.
$$
Which $x,y:[0,T]\to \mathbb{R}$ solve the Euler -Lagrange equation
$$ 
\nabla_{\begin{pmatrix}x \\ y\end{pmatrix}} L-\partial_t\nabla_{\begin{pmatrix} \dot{x} \\ \dot{y}\end{pmatrix} }L=0
$$
with initial and terminal conditions $x(0)=q,x(T)=q',y(0)=p,y(T)=p'$. ? Please help !
$\Big($would more information on how the constants $c_1,c_2,c_3$ relate to eachother be useful? because infact $c_1=\sigma^2+\gamma^2, c_2=-\gamma(\sigma+\alpha),c_3=\alpha^2+\gamma^2$, where these constants $\alpha,\sigma,\gamma$ are positive and $\alpha\sigma>\gamma^2$ $\Big)$.
EDIT : I got the E.L as with the above choices for $c_1,c_2,c_3$
\begin{equation}
    \nabla_{(x,y)} L = (\frac{1}{\alpha\sigma-\gamma^2})^2\begin{pmatrix}
    0 \\
    \nabla_{y} B_1+\nabla_{y} B_2
    \end{pmatrix} 
\end{equation}
with
\begin{equation}
    \nabla_{y} B_1=2(\sigma+\gamma \beta) y + \frac{1}{\sigma+\gamma\beta}(\gamma \dot{y}-\sigma \dot{x})
\end{equation}
and
\begin{equation}
    \nabla_{y} B_2=2(\gamma + \alpha \beta) y + \frac{1}{\gamma+\alpha \beta}(\alpha \dot{x}-\gamma \dot{y}).
\end{equation}
Also
\begin{equation}
    \partial_t \nabla_{(\dot{x},\dot{y})} L=2 (A^{-1})^2(\begin{pmatrix}\ddot{x}\\ \ddot{y} \end{pmatrix}-\begin{pmatrix}
    \dot{y}
    \\
    -\beta \dot{y}
    \end{pmatrix}) 
\end{equation}
Which is a coupled ODE

The Lagrangian doesn't depends on $t$  so it obeys Betrami's identity. With $p=(x,y)$
$$
L - \dot p\nabla_{\dot p}L = c_0
$$
or
$$
c_2^2 \left(x^2+y^2-\left(\beta ^2+1\right) \dot y^2\right)+c_3^2 \left(y^2-\beta ^2 \dot y^2\right)+2 c_2 c_1 \left(\beta  \dot y^2+x
   y\right)+2 c_2 c_3 \left(\beta  \dot y^2+x y\right)+c_1^2 \left(x^2-\dot y^2\right)=c_0
$$
From Euler-Lagrange's equations we obtain
$$
x = \frac{\left(c_2 \left(c_2-\beta  c_3\right)+c_1^2-\beta  c_2 c_1\right) \dot y-c_2 \left(c_1+c_3\right) y}{c_1^2+c_2^2}
$$
now substituting into the former ODE we obtain a new ODE now depending only on $y,\dot y$. Concluding, we have two independent constants to fix: $c_0$ an one additional boundary from the last obtained ODE, and four independent boundary conditions. This is not feasible.
NOTE
The lagrangian is kind of degenerate concerning the kinetic energy because
$$
\frac 12\nabla_{\dot p}\left(\nabla_{\dot p}L\right) = \left(
\begin{array}{cc}
 0 & 0 \\
 0 & \left(c_1-\beta  c_2\right){}^2+\left(c_2-\beta  c_3\right){}^2 \\
\end{array}
\right)
$$
which is not positive definite.
EDIT
Corrected some equations.
