Another energy-related concept is called the Lagrangian, after Joseph-Louis Lagrange. This formalism is as fundamental as the Hamiltonian, and both can be used to derive the equations of motion or be derived from them. It was invented in the context of classical mechanics, but is generally useful in modern physics. The Lagrangian is defined as the kinetic energy minus the potential energy. Usually, the Lagrange formalism is mathematically more convenient than the Hamiltonian for non-conservative systems (such as systems with friction).