Let $I_1=[a_0,a_1),\ldots,I_{k}= [a_{k-1},a_k)$ be a partition of the interval $I=[0,1)$ into $k$ subintervals. Let $f:I\to I$ be a map such that each restriction $f|_{I_i}$ is an increasing Lipschitz contraction. We prove that any $f$ admits at most $k$ periodic orbits, where the upper bound is sharp. We are also interested in the dynamics of piecewise linear $λ$-affine maps, where $0<λ<1$. Let $b_1,\ldots,b_k$ be real numbers and let $F_λ: I\to \mathbb{R}$ be a function such that each restriction $F_λ|_{I_i}(x)=λx +b_i$. Under a generic assumption on the parameters $a_1,\ldots,a_{k-1},b_1,\ldots,b_k$, we prove that, up to a zero Hausdorff dimension set of slopes $λ$, the $ω$-limit set of the piecewise $λ$-affine maps $f_λ:x\in I \mapsto F_λ(x)\pmod{1}$ at every point equals a periodic orbit and there exist at most $k$ periodic orbits. Moreover, let $\mathfrak{E}^{(k)}$ be the exceptional set of parameters $λ,a_1,\ldots,a_{k-1},b_1,\ldots,b_k$ which define non-asymptotically periodic $f$, we prove that $\mathfrak{E}^{(k)}$ is a Lebesgue null measure set whose Hausdorff dimension is large or equal to $k$.
We study the asymptotical behaviour of iterates of piecewise contractive maps of the interval. It is known that Poincaré first return maps induced by some Cherry flows on transverse intervals are, up to topological conjugacy, piecewise contractions. These maps also appear in discretely controlled dynamical systems, describing the time evolution of manufacturing process adopting some decision-making policies. An injective map $f:[0,1)\to [0,1)$ is a {\it piecewise contraction of $n$ intervals}, if there exists a partition of the interval $[0,1)$ into $n$ intervals $I_1$,..., $I_n$ such that for…
Let $ϕ_1,\ldots,ϕ_n:[0,1]\to (0,1)$ be Lipschitz contractions. Let $I=[0,1)$, $x_0=0$ and $x_n=1$. We prove that for Lebesgue almost every $(x_1,...,x_{n-1})$ satisfying $0<x_1<\cdots <x_{n-1}<1$, the piecewise contraction $f:I\to I$ defined by $x\in [x_{i-1},x_i)\mapsto ϕ_i(x)$ is asymptotically periodic. More precisely, $f$ has at least one and at most $n$ periodic orbits and the $ω$-limit set $ω_f(x)$ is a periodic orbit of $f$ for every $x\in I$.
We consider the iterates of a generic injective piecewise contraction of the interval defined by a finite family of contractions. Let $ϕ_i:[0,1]\to (0,1)$, $1\le i\le n$, be $C^2$-diffeomorphisms with $\sup_{x\in (0,1)} \vert Dϕ_i(x)\vert<1$ whose images $ϕ_1([0,1]), \ldots, ϕ_n([0,1])$ are pairwise disjoint. Let $0<x_1<\cdots<x_{n-1}<1$ and let $I_1,\ldots, I_n$ be a partition of the interval $[0,1)$ into subintervals $I_i$ having interior $(x_{i-1},x_i)$, where $x_0=0$ and $x_n=1$. Let $f_{x_1,\ldots,x_{n-1}}$ be the map given by $x\mapsto ϕ_i(x)$ if $x\in I_i$, for $1\le i\le n$. Among othe…
Let $I=[0,1)$, $-1<λ<1$ and $f\colon I\to I$ be a piecewise $λ$-affine map of the interval $I$, i.e., there exist a partition $0=a_0<a_1<\cdots< a_{k-1}<a_k=1$ of the interval $I$ into $k\geq2$ subintervals and $b_1,\ldots, b_k\in\mathbb{R}$ such that $f(x)=λx+ b_i$ for every $x\in[a_{i-1},a_{i})$ and $i=1,\ldots,k$. The exceptional set $\mathcal{E}_f$ of $f$ is the set of parameters $δ\in\mathbb{R}$ such that $R_δ\circ f$ is not asymptotically periodic, where $R_δ\colon I\to I$ is the rotation of angle $δ$. In this paper we prove that $\mathcal{E}_f$ has zero Hausdorff dimension. We derive th…
A map $f{:}\,[0,1)\to [0,1)$ is a {\it piecewise contraction of $n$ intervals} ($n$-PC) if there exist $0<λ<1$ and a partition of $[0,1)$ into intervals $I_1,\ldots,I_n$ such that $f\vert_{I_i}$ is $λ$-Lipschitz for every $1\le i\le n$. An infinite word $θ=θ_0θ_1\ldots$ over the alphabet $\mathcal{A}=\{1,\ldots,n\}$ is a {\it natural coding of} $f$ if there exists $x\in I$ such that $θ_k=i$ if and only if $f^k(x)\in I_i$. We prove that if $θ$ is a natural coding of an injective $n$-PC, then some infinite subword of $θ$ is either periodic or isomorphic to a natural coding of a topologically tra…
Let $I=[0,1)$, $b\in \{2,3,\ldots\}$ and $f:I\to I$ be an injective piecewise $\frac{1}{b}$-affine map, that is, assume that there exists a partition of $I$ into intervals $I_1,\ldots,I_n$ such that $\vert f(x)-f(y)\vert\le\frac1b \vert x-y\vert$ for all $x,y\in I_i$ and $1\le i\le n$. In this note, we study the $δ$-parameter family of maps $f_δ=R_δ\circ f$, where $R_δ:x\mapsto \{x+δ\}$. More precisely, we show that the set $\mathcal{N}$ of parameters $δ$ for which $f_δ$ has only natural codings with maximal complexity is a non-empty set with Hausdorff \mbox{dimension $0$}. We also show that f…
We construct a chaotic discrete-time continuous-state Hopfield network with piecewise-affine nonnegative activation functions and weight matrix with small positive entries. More precisely, there exists a Cantor set $C$ in the state space such that the network has sensitive dependence on initial conditions at initial states in $C$ and the network orbit of each initial state in $C$ has $C$ as its $ω$-limit set. The approach we use is based on tools developed and employed recently in the study of the topological dynamics of piecewise-contractions. The parameters of the chaotic network are explici…
In this paper we extend to a generic class of piecewise smooth dynamical systems a fundamental tool for the analysis of convergence of smooth dynamical systems: contraction theory. We focus on switched systems satisfying Caratheodory conditions for the existence and unicity of a solution. After generalizing the classical definition of contraction to this class of dynamical systems, we give sufficient conditions for global exponential convergence of their trajectories. The theoretical results are then applied to solve a set of representative problems including proving global asymptotic stabilit…
In this paper, we introduce some concepts of square-mean S-asymptotically $ω$-periodic stochastic processes. Using the stochastic analysis method and the Banach contraction mapping principle, we establish the existence and uniqueness results of the mild solution and the square-mean S-asymptotically $ω$-periodic solution for a semilinear nonautonomous stochastic fractional evolution equation driven by Lévy noise.
We consider the outer billiards map with contraction outside polygons. We construct a 1-parameter family of systems such that each system has an open set in which the dynamics is reduced to that of a piecewise contraction on the interval. Using the theory of rotation numbers, we deduce that every point inside the open set is asymptotic to either a single periodic orbit (rational case) or a Cantor set (irrational case). In particular, we deduce existence of an attracting Cantor set for certain parameter values. Moreover, for a different choice of a 1-parameter family, we prove that the system i…
A Riemannian metric with a local contraction property can be used to prove existence and uniqueness of a periodic orbit and determine a subset of its basin of attraction. While the existence of such a contraction metric is equivalent to the existence of an exponentially stable periodic orbit, the explicit construction of the metric is a difficult problem. In this paper, the construction of such a contraction metric is achieved by formulating it as an equivalent problem, namely a feasibility problem in semidefinite optimization. The contraction metric, a matrix-valued function, is constructed a…
We study the asymptotic dynamics of maps which are piecewise contracting on a compact space. These maps are Lipschitz continuous, with Lipschitz constant smaller than one, when restricted to any piece of a finite and dense union of disjoint open pieces. We focus on the topological and the dynamical properties of the (global) attractor of the orbits that remain in this union. As a starting point, we show that the attractor consists of a finite set of periodic points when it does not intersect the boundary of a contraction piece, which complements similar results proved for more specific classes…
Two-fold singularities in a piecewise smooth (PWS) dynamical system in $\mathbb{R}^3$ have long been the subject of intensive investigation. The interest stems from the fact that trajectories which enter the two-fold are associated with forward non-uniqueness. The key questions are: How do we continue orbits forward in time? Are there orbits that are distinguished among all the candidates? We address these questions by regularizing the PWS dynamical system for the case of the visible-invisible two-fold. Within this framework, we consider a regularization function outside the class of Sotomayor…
In this paper, we first show that any nonlinear monotonic increasing contracting maps with one discontinuous point on a unit interval which has an unique periodic point with period $n$ conjugates to a piecewise linear contracting map which has periodic point with same period. Second, we consider one parameter family of monotonic increasing contracting maps, and show that the family has the periodic structure called Arnold tongue for the parameter which is associated with the Farey series. This implies that there exist a parameter set with a positive Lebesgue measure such that the map has a per…
We study the global dynamics of integrate and fire neural networks composed of an arbitrary number of identical neurons interacting by inhibition and excitation. We prove that if the interactions are strong enough, then the support of the stable asymptotic dynamics consists of limit cycles. We also find sufficient conditions for the synchronization of networks containing excitatory neurons. The proofs are based on the analysis of the equivalent dynamics of a piecewise continuous Poincaré map associated to the system. We show that for strong interactions the Poincaré map is piecewise contractiv…
Let $f : [0,1)\rightarrow [0,1)$ be a $2$-interval piecewise affine increasing map which is injective but not surjective. Such a map $f$ has a rotation number and can be parametrized by three real numbers. We make fully explicit the dynamics of $f$ thanks to two specific functions $δ$ and $ϕ$ depending on these parameters whose definitions involve Hecke-Mahler series. As an application, we show that the rotation number of $f$ is rational, when the three parameters are algebraic numbers.
This survey article is concerned with the study of bifurcations of piecewise-smooth maps. We review the literature in circle maps and quasi-contractions and provide paths through this literature to prove sufficient conditions for the occurrence of two types of bifurcation scenarios involving rich dynamics. The first scenario consists of the appearance of periodic orbits whose symbolic sequences and "rotation" numbers follow a Farey tree structure; the periods of the periodic orbits are given by consecutive addition. This is called the {\em period adding} bifurcation, and its proof relies on re…
In this paper, a partial proof of a conjecture raised by Galaktionov and Svirshchevskii concerning existence and global uniqueness of an asymptotically stable periodic orbit in a fourth-order piecewise linear ordinary differential equation is presented. The fourth-order equation comes from the study of traveling wave patterns in a signed Kuramoto-Sivashinsky equation with absorption. The proof is twofold. First, the problem of solving for the periodic orbit is transformed into a zero finding problem in four dimensional space, which is solved with a computer-assisted proof based on Newton's met…
Switched server systems are mathematical models of manufacturing, traffic and queueing systems that have being studied since the early 1990s. In particular, it is known that typically the dynamics of such systems is asymptotically periodic: each orbit of the system converges to one of its finitely many limit cycles. In this article, we provide an explicit example of a switched server system with exotic behavior: each orbit of the system converges to the same Cantor attractor. To accomplish this goal, we bring together recent advances in the understanding of the topological dynamics of piecewis…
In this work we consider a general class of $2$-dimensional hybrid systems. Assuming that the system possesses an attracting equilibrium point, we show that, when periodically driven with a square-wave pulse, the system possesses a periodic orbit which may undergo smooth and nonsmooth grazing bifurcations. We perform a semi-rigorous study of the existence of periodic orbits for a particular model consisting of a leaky integrate-and-fire model with a dynamic threshold. We use the stroboscopic map, which in this context is a $2$-dimensional piecewise-smooth discontinuous map. For some parameter …
