Dynamics of a family of piecewise-linear area-preserving plane maps I. Rational rotation numbers
Jeffrey C. Lagarias, Eric Rains
备注：
v2. original v1 (52 pages) divided in two parts, this is first part; 18 pages latex. Current part II is math.DS/0303007; part III is math.DS/0505103 v3. revised to reflect prior work by Beardon, Bullett and Rippon; v3 corrects misprints
发表信息：
Journal of Difference Equations and Applications 11 (2005), No. 12, 1089--1108
This paper studies the behavior under iteration of the maps T_{ab}(x,y) = (F_{ab}(x)-y,x) of the plane R^2, in which F_{ab}(x)=ax if x>=0 and bx if x<0. The orbits under iteration correspond to solutions of the nonlinear difference equation x_{n+2}= 1/2(a-b)|x_{n+1}| + 1/2(a+b)x_{n+1} - x_n. This family of piecewise-linear maps has the parameter space (a,b)\in R^2. These maps are area-preserving homeomorphisms of R^2 that map rays from the origin into rays from the origin. The action on rays defines a map S_{ab} of the circle, which has a well-defined rotation number. This paper characterizes the possible behaviors of T_{ab} under iteration when the rotation number is rational. It characterizes cases where the map T_{ab} is a periodic map.
We study a parametric family of piecewise rotations of the torus, in the limit in which the rotation number approaches the rational value 1/4. There is a region of positive measure where the discontinuity set becomes dense in the limit; we prove that in this region the area occupied by stable periodic orbits remains positive. The main device is the construction of an induced map on a domain with vanishing measure; this map is the product of two involutions, and each involution preserves all its atoms. Dynamically, the composition of these involutions represents linking together two sector maps…
We consider a specific piecewise rotation of the plane that is continuous on two half-planes, as studied by some authors like Boshernitzan, Goetz and Quas. If the angle belongs to the set $\{\fracπ{2},\frac{2π}{3},\fracπ{4}\}$, we give a complete description of the symbolic dynamics of this map in the non symmetric bijective case.
We study maps of the unit interval whose graph is made up of two increasing segments and which are injective in an extended sense. Such maps $f_{\p}$ are parametrized by a quintuple $\p$ of real numbers satisfying inequations. Viewing $f_{\p}$ as a circle map, we show that it has a rotation number $ρ(f_{\p})$ and we compute $ρ(f_{\p})$ as a function of $\p$ in terms of Hecke-Mahler series. As a corollary, we prove that $ρ(f_{\p})$ is a rational number when the components of $\p$ are algebraic numbers.
It is proved that all special flows over the rotation by an irrational $α$ with bounded partial quotients and under $f$ which is piecewise absolutely continuous with a non-zero sum of jumps are mildly mixing. Such flows are also shown to enjoy a condition which emulates the Ratner condition introduced in \cite{Rat}. As a consequence we construct a smooth vector--field on $\T^2$ with one singularity point such that the corresponding flow $(ϕ_t)_{t\in\R}$ preserves a smooth measure, its set of ergodic components consists of a family of periodic orbits and one component of positive measure on whi…
We study the synchronization properties of the random double rotations on tori. We give a criterion that show when synchronization is present in the case of random double rotations on the circle and prove that it is always absent in dimensions two and higher.
We consider a specific %piecewise rotation of the plane that is continuous on two half-planes, class of piecewise rotations of the plane that are continuous on two half-planes, as studied in \cite{Bosh.Goet.03}, \cite{Goet.Quas.09} and \cite{Che.Goe.Qua.12}. %If Assuming that the angle belongs to the set $\{\fracπ{2},\fracπ{3},\fracπ{6},\fracπ{4}\} %$ $, we give a description of the symbolic dynamics of this map in the bijective symmetric case.
We study the dynamics of piecewise conformal maps in the Riemann sphere. The normality and chaotic regions are defined and we state several results and properties of these sets. We show that the stability of these piecewise maps is related to the Kleinian group generated by their transformations under certain hypotheses. The general motivation of the article is to compare the dynamics of piecewise conformal maps and those of the Kleinian groups and iterations of rational maps.
We present a one-parameter family of continuous, piecewise affine, area preserving maps of the square, which are inspired by a dynamical system in game theory. Interested in the coexistence of stochastic and (quasi-)periodic behaviour, we investigate invariant annuli separated by invariant circles. For certain parameter values, we explicitly construct invariant circles both of rational and irrational rotation numbers, and present numerical experiments of the dynamics on the annuli bounded by these circles.
We consider piecewise linear discrete time macroeconomic models, which possess a continuum of equilibrium states. These systems are obtained by replacing rational inflation expectations with a boundedly rational, and genuinely sticky, response of agents to changes in the actual inflation rate in a standard Dynamic Stochastic General Equilibrium model. Both for a low-dimensional variant of the model, with one representative agent, and the multi-agent model, we show that, when exogenous noise is absent from the system, the continuum of equilibrium states is the global attractor. Further, when a …
We give a condition on a piecewise constant roof function and an irrational rotation by $α$ on the circle to give rise to a special flow having the mild mixing property. Such flows will also satisfy Ratner's property. As a consequence we obtain a class of mildly mixing singular flows on the two-torus that arise from quasi-periodic Hamiltonians flows by velocity changes.
We prove the existence of an open and dense set D\subset? Homeo0(T2) (set of toral homeomorphisms homotopic to the identity) such that the rotation set of any element in D is a rational polygon. We also extend this result to the set of axiom A dif- feomorphisms in Homeo0(T2). Further we observe the existence of minimal sets whose rotation set is a non-trivial segment, for an open set in Homeo0(T2).
Consider piecewise linear Lorenz maps on $[0, 1]$ of the following form \[ f_{a,b,c}(x)= {ll} ax+1-ac & x \in [0, c) b(x-c) & x \in (c, 1].\] We prove that $f_{a,b,c}$ admits an absolutely continuous invariant probability measure (acim) $μ$ with respect to the Lebesgue measure if and only if $f_{a,b,c}(0) \le f_{a,b,c}(1)$, i.e. $ac+(1-c)b \ge 1$. The acim is unique and ergodic unless $f_{a,b,c}$ is conjugate to a rational rotation. The equivalence between the acim and the Lebesgue measure is also fully investigated via the renormalization theory.
We consider the growth of heights of the points of the orbits of (piecewise) affine maps of the plane, with rational parameters. We analyse the asymptotic growth rate of both global and local ($p$-adic) heights, for the primes $p$ that divide the parameters. We show that almost all the points in a domain of linearity (such as an elliptic island in an area-preserving map) have the same exponential growth rate. We also show that the convergence of the $p$-adic height may be non-uniform, with arbitrarily large fluctuations occurring arbitrarily close to any point. We explore numerically the behav…
We prove some basic results for a dynamical system given by a piecewise linear and contractive map on the unit interval that takes two possible values at a point of discontinuity. We prove that there exists a universal limit cycle in the non-exceptional cases, and that the exceptional parameter set is very tiny in terms of gauge functions. The exceptional two-dimensional parameter is shown to have Hausdorff-dimension one. We also study the invariant sets and the limit sets; these are sometimes different and there are several cases to consider. In addition, we give a thorough investigation of t…
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.
We investigate the properties of absolutely continuous invariant probability measures (ACIPs), especially those measures with bounded variation densities, for piecewise area preserving maps (PAPs) on $\mathbb{R}^d$. This class of maps unifies piecewise isometries (PWIs) and piecewise hyperbolic maps where Lebesgue measure is locally preserved. Using a functional analytic approach, we first explore the relationship between topological transitivity and uniqueness of ACIPs, and then give an approach to construct invariant measures with bounded variation densities for PWIs. Our results "partially"…
A rational pseudo-rotation $f$ of the torus is a homeomorphism homotopic to the identity with a rotation set consisting of a single vector $v$ of rational coordinates. We give a classification for rational pseudo-rotations with an invariant measure of full support, in terms of the deviations from the constant rotation $x\mapsto x+v$ in the universal covering. For the simpler case that $v=(0,0)$, it states that either every orbit by the lifted dynamics is bounded, or the displacement in some rational direction is uniformly bounded (implying that the dynamics is annular) or the set of fixed poin…
Resonance tongues are mode-locking regions of parameter space in which stable periodic solutions occur; they commonly occur, for example, near Neimark-Sacker bifurcations. For piecewise-smooth, continuous maps these tongues typically have a distinctive lens-chain (or sausage) shape in two-parameter bifurcation diagrams. We give a symbolic description of a class of "rotational" periodic solutions that display lens-chain structures for a general $N$-dimensional map. We then unfold the codimension-two, shrinking point bifurcation, where the tongues have zero width. A number of codimension-one bif…
Let $f_{i},$ $i=1,2$ be piecewise-smooth $C^{1}$ circle homeomorphisms with two break points, $\log Df_{i},$ $i=1,2$ are absolutely continuous on each continuity intervals of $Df_{i}$ and $D\log Df_{i}\in L^{p}$ for some $p>1.$ Suppose, the jump ratios of $f_{1} $ and $f_{2} $ at their break points do not coincide but have the same total jumps (i.e. the product of jump ratios) and identical irrational rotation number of bounded type. Then the conjugation $h$ between $f_{1} $ and $f_{2} $ is a singular function, i.e. it is continuous on $S^1,$ but $Dh(x)=0$ a.e. with respect to Lebesgue measure…
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…
We consider a prototypical two-parameter family of invertible maps of $\mathbb{Z}^2$, representing rotations with decreasing rotation number. These maps describe the dynamics inside the island chains of a piecewise affine discrete twist map of the torus, in the limit of fine discretisation. We prove that there is a set of full density of points which, depending of the parameter values, are either periodic or escape to infinity. The proof is based on the analysis of an interval-exchange map over the integers, with infinitely many intervals.
We study self-similarity problem for two classes of flows: (1) special flows over circle rotations and under roof functions with symmetric logarithmic singularities (2) special flows over interval exchange transformations and under roof functions which are of two types * piecewise constant with one additional discontinuity which is not a discontinuity of the IET; * piecewise linear over exchanged intervals with non-zero slope. We show that if $\{T^f_t\}_{t\in\mathbb R}$ is as in (1) then for a full measure set of rotations, and for every two distinct natural numbers $K$ and $L$, we have that $…
We show that if the rotation set of a homeomorphism of the torus is stable under small perturbations of the dynamics, then it is a convex polygon with rational vertices. We also show that such homeomorphisms are $C^0$-generic and have bounded rotational deviations (even for pseudo-orbits). The results hold both in the area-preserving setting and in the general setting. When the rotation set is stable, we give explicit estimates on the type of rationals that may appear as vertices of rotation sets in terms of the stability constants.
\emph{Rotation numbers} for some maps of \emph{triods} was introduced in \cite{BMR}. The goal of this paper is to study \emph{patterns} of \emph{triods} which don't force other \emph{patterns} with the same \emph{rotation number} which we name \emph{triod twists}. We obtain their complete characterization and show that these \emph{patterns} can be conjugated to \emph{circle rotation} by a \emph{piecewise monotone} map. We also describe the dynamics of \emph{unimodal triod twist patterns} with a given rational \emph{rotation number}.
We consider a one-parameter family of piecewise isometries of a rhombus. The rotational component is fixed, and its coefficients belong to the quadratic number field $K=\mathbb{Q}(\sqrt{2})$. The translations depend on a parameter $s$ which is allowed to vary in an interval. We investigate renormalizability. We show that recursive constructions of first-return maps on a suitable sub-domain eventually produce a scaled-down replica of this domain, but with a renormalized parameter $r(s)$. The renormalization map $r$ is the second iterate of a map $f$ of the generalised Lüroth type (a piecewise-a…
We consider rational surface automorphisms with positive entropy. A Fatou component is said to be a rotation domain if the automorphism induces a torus action on it. Here we construct a rational surface automorphism with positive entropy with the following property: it has a rotation domain which contains both a curve of fixed points and isolated fixed points. This Fatou component cannot be imbedded into complex euclidean space, so we introduce a global linear model space and show that it can be globally linearized in this model.
We study the properties of rotation numbers for some groups of piecewise linear homeomorphisms of the circle. We use these properties to obtain results on PL rigidity, non isomorphicity, non exoticity of automorphisms, non smoothability for Thompson-Stein groups.
An annular continuum is a compact connected set $K$ which separates a closed annulus $A$ into exactly two connected components, one containing each boundary component. The topology of such continua can be very intricate (for instance, non-locally connected). We adapt a result proved by Handel in the case where $K=A$, showing that if $K$ is an invariant annular continuum of a homeomorphism of $A$ isotopic to the identity, then the rotation set in $K$ is closed. Moreover, every element of the rotation set is realized by an ergodic measure supported in $K$ (and by a periodic orbit if the rotation…
For a continuous map on a topological graph containing a unique loop S, it is possible to define the degree and, for a map of degree 1, rotation numbers. It is known that the set of rotation numbers of points in S is a compact interval and for every rational r in this interval there exists a periodic point of rotation number r. The whole rotation set (i.e. the set of all rotation numbers) may not be connected and it is not known in general whether it is closed. A sun graph is the space consisting in finitely many segments attached by one of their endpoints to a circle. We show that, for a map …
We study statistical properties of the truncated flat spot map $f_t(x)$. In particular, we investigate whether for large $n$, the deviations $\sum_{i=0}^{n-1} \left(f_t^i(x_0)-\frac 12\right)$ upon rescaling satisfy a $Q$-Gaussian distribution if $x_0$ and $t$ are both independently and uniformly distributed on the unit circle. This was motivated by the fact that if $f_t$ is the rotation by $t$, then it has been shown that in this case the rescaled deviations are distributed as a $Q$-Gaussian with $Q=2$ (a Cauchy distribution). This is the only case where a non-trivial (i.e. $Q\neq 1$) $Q$-Gau…
We study the mean-median map as a dynamical system on the space of finite sets of piecewise-affine continuous functions with rational coefficients. We determine the structure of the limit function in the neighbourhood of a distinctive family of rational points, the local minima. By constructing a simpler map which represents the dynamics in such neighbourhoods, we extend the results of Cellarosi and Munday (arXiv:1408.3454v1 [math.CO]) by two orders of magnitude. Based on these computations, we conjecture that the Hausdorff dimension of the graph of the limit function of the set $[0,x,1]$ is g…
This paper studies the behavior under iteration of the maps T_{ab}(x,y)=(F_{ab}(x)-y,x) of the plane R^2, in which F_{ab}(x)=ax if x>=0 and bx if x<0. The orbits under iteration correspond to solutions of the nonlinear difference equation x_{n+2}= 1/2(a-b)|x_{n+1}| + 1/2(a+b)x_{n+1} - x_n. This family of maps has the parameter space (a,b)\in R^2. These maps are area-preserving homeomorphisms of R^s that map rays from the origin into rays from the origin. This paper shows the existence of special parameter values where T_{ab} has every nonzero orbit an invariant circle with irrational rotation …
We introduce simple models of genetic regulatory networks and we proceed to the mathematical analysis of their dynamics. The models are discrete time dynamical systems generated by piecewise affine contracting mappings whose variables represent gene expression levels. When compared to other models of regulatory networks, these models have an additional parameter which is identified as quantifying interaction delays. In spite of their simplicity, their dynamics presents a rich variety of behaviours. This phenomenology is not limited to piecewise affine model but extends to smooth nonlinear disc…
Given two ellipses, one surrounding the other one, Poncelet introduced a map $P$ from the exterior one to itself by using the tangent lines to the interior ellipse. This procedure can be extended to any two smooth, nested and convex ovals and we call this type of maps Poncelet's maps. We recall what he proved around 1814 in the dynamical systems language: In the two ellipses case and when the rotation number of P is rational there exists a natural number such that P^n is the identity, or in other words, the Poncelet's map is conjugated to a rational rotation. In this paper we study general Pon…
For a continuous map on a topological graph containing a unique loop S it is possible to define the degree and, for a map of degree 1, rotation numbers. It is known that the set of rotation numbers of points in S is a compact interval and for every rational r in this interval there exists a periodic point of rotation number r. The whole rotation set (i.e. the set of all rotation numbers) may not be connected and it is not known in general whether it is closed. The graph sigma is the space consisting in an interval attached by one of its endpoints to a circle. We show that, for a map of degree …
We apply set-valued numerical methods to compute an accurate enclosure of the rotation number. The described algorithm is supplemented with a method of proving the existence of periodic points, which is used to check the rationality of the rotation number. A few numerical experiments are presented to show that the implementation of interval methods produces a good enclosure of the rotation number of a circle map.
We investigate rational maps with period one and two cluster cycles. Given the definition of a cluster, we show that, in the case where the degree is $d$ and the cluster is fixed, the Thurston class of a rational map is fixed by the combinatorial rotation number $ρ$ and the critical displacement $δ$ of the cluster cycle. The same result will also be proved in the case that the rational map is quadratic and has a period two cluster cycle, but that the statement is no longer true in the higher degree case.
We study rational step function skew products over certain rotations of the circle proving ergodicity and bounded rational ergodicity when rotation number is a quadratic irrational. The latter arises from a consideration of the asymptotic temporal statistics of an orbit as modelled by an associated affine random walk.
Let $0<λ<1$. We consider the one-parameter family of circle $λ$-affine contractions $f_δ:x \in [0,1) \mapsto λx + δ\; {\rm mod}\,1 $, where $0 \le δ<1$. Let $ρ$ be the rotation number of the map $f_δ$. We will give some numerical relations between the values of $λ,δ$ and $ρ$, essentially using Hecke-Mahler series and a tree structure. When both parameters $λ$ and $δ$ are algebraic numbers, we show that $ρ$ is a rational number. Moreover, in the case $λ$ and $δ$ are rational, we give an explicit upper bound for the height of $ρ$ under an assumption on $λ$.
In this work we consider a periodically forced generic integrate-and-fire model with a unique attracting equilibrium in the subthreshold dynamics and study the dependence of the firing-rate on the frequency of the drive. In an earlier study we have obtained rigorous results on the bifurcation structure in such systems, with emphasis on the relation between the firing-rate and the rotation number of the existing periodic orbits. In this work we study how these bifurcation structures behave upon variation of the frequency of the input. This allows us to show that the dependence of the firing-rat…
