Dynamicalsystem

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Adynamicalsystemisaconceptinmathematicswhereafixed
ruledescribeshowapointinageometricalspacedependsontime.
Examplesincludethemathematicalmodelsthatdescribethe
swingingofaclockpendulum,theflowofwaterinapipe,andthe
numberoffisheachspringtimeinalake.
Atanygiventimeadynamicalsystemhasastategivenbyasetof
realnumbers(avector)thatcanberepresentedbyapointinan
appropriatestatespace(ageometricalmanifold).Smallchangesin
thestateofthesystemcreatesmallchangesinthenumbers.The
evolutionruleofthedynamicalsystemisafixedrulethat
describeswhatfuturestatesfollowfromthecurrentstate.Therule
isdeterministicinotherwords,foragiventimeintervalonlyone
futurestatefollowsfromthecurrentstate.

Contents
1Overview
2History
3Basicdefinitions
3.1Examples
3.2Furtherexamples
4Lineardynamicalsystems
4.1Flows
4.2Maps
5Localdynamics
5.1Rectification
5.2Nearperiodicorbits
5.3Conjugationresults
6Bifurcationtheory
7Ergodicsystems
7.1Nonlineardynamicalsystemsandchaos
7.2Geometricaldefinition
7.3Measuretheoreticaldefinition
8Examplesofdynamicalsystems
9Multidimensionalgeneralization
10Seealso

TheLorenzattractorarisesinthe
studyoftheLorenzOscillator,a
dynamicalsystem.

11References
12Furtherreading
13Externallinks

Overview
TheconceptofadynamicalsystemhasitsoriginsinNewtonianmechanics.There,asinothernatural
sciencesandengineeringdisciplines,theevolutionruleofdynamicalsystemsisanimplicitrelationthat
givesthestateofthesystemforonlyashorttimeintothefuture.(Therelationiseitheradifferential
equation,differenceequationorothertimescale.)Todeterminethestateforallfuturetimesrequires
iteratingtherelationmanytimeseachadvancingtimeasmallstep.Theiterationprocedureisreferredto
assolvingthesystemorintegratingthesystem.Ifthesystemcanbesolved,givenaninitialpointitis
possibletodetermineallitsfuturepositions,acollectionofpointsknownasatrajectoryororbit.
Beforetheadventofcomputers,findinganorbitrequiredsophisticatedmathematicaltechniquesandcould
beaccomplishedonlyforasmallclassofdynamicalsystems.Numericalmethodsimplementedon
electroniccomputingmachineshavesimplifiedthetaskofdeterminingtheorbitsofadynamicalsystem.
Forsimpledynamicalsystems,knowingthetrajectoryisoftensufficient,butmostdynamicalsystemsare
toocomplicatedtobeunderstoodintermsofindividualtrajectories.Thedifficultiesarisebecause:
Thesystemsstudiedmayonlybeknownapproximatelytheparametersofthesystemmaynotbe
knownpreciselyortermsmaybemissingfromtheequations.Theapproximationsusedbringinto
questionthevalidityorrelevanceofnumericalsolutions.Toaddressthesequestionsseveralnotions
ofstabilityhavebeenintroducedinthestudyofdynamicalsystems,suchasLyapunovstabilityor
structuralstability.Thestabilityofthedynamicalsystemimpliesthatthereisaclassofmodelsor
initialconditionsforwhichthetrajectorieswouldbeequivalent.Theoperationforcomparingorbits
toestablishtheirequivalencechangeswiththedifferentnotionsofstability.
Thetypeoftrajectorymaybemoreimportantthanoneparticulartrajectory.Sometrajectoriesmay
beperiodic,whereasothersmaywanderthroughmanydifferentstatesofthesystem.Applications
oftenrequireenumeratingtheseclassesormaintainingthesystemwithinoneclass.Classifyingall
possibletrajectorieshasledtothequalitativestudyofdynamicalsystems,thatis,propertiesthatdo
notchangeundercoordinatechanges.Lineardynamicalsystemsandsystemsthathavetwonumbers
describingastateareexamplesofdynamicalsystemswherethepossibleclassesoforbitsare
understood.
Thebehavioroftrajectoriesasafunctionofaparametermaybewhatisneededforanapplication.
Asaparameterisvaried,thedynamicalsystemsmayhavebifurcationpointswherethequalitative
behaviorofthedynamicalsystemchanges.Forexample,itmaygofromhavingonlyperiodic
motionstoapparentlyerraticbehavior,asinthetransitiontoturbulenceofafluid.
Thetrajectoriesofthesystemmayappearerratic,asifrandom.Inthesecasesitmaybenecessaryto
computeaveragesusingoneverylongtrajectoryormanydifferenttrajectories.Theaveragesare
welldefinedforergodicsystemsandamoredetailedunderstandinghasbeenworkedoutfor

hyperbolicsystems.Understandingtheprobabilisticaspectsofdynamicalsystemshashelped
establishthefoundationsofstatisticalmechanicsandofchaos.

History
ManypeopleregardHenriPoincarasthefounderofdynamicalsystems.[1]Poincarpublishedtwonow
classicalmonographs,"NewMethodsofCelestialMechanics"(18921899)and"LecturesonCelestial
Mechanics"(19051910).Inthem,hesuccessfullyappliedtheresultsoftheirresearchtotheproblemof
themotionofthreebodiesandstudiedindetailthebehaviorofsolutions(frequency,stability,asymptotic,
andsoon).ThesepapersincludedthePoincarrecurrencetheorem,whichstatesthatcertainsystemswill,
afterasufficientlylongbutfinitetime,returntoastateveryclosetotheinitialstate.
AleksandrLyapunovdevelopedmanyimportantapproximationmethods.Hismethods,whichhe
developedin1899,makeitpossibletodefinethestabilityofsetsofordinarydifferentialequations.He
createdthemoderntheoryofthestabilityofadynamicsystem.
In1913,GeorgeDavidBirkhoffprovedPoincar's"LastGeometricTheorem,"aspecialcaseofthethree
bodyproblem,aresultthatmadehimworldfamous.In1927,hepublishedhisDynamicalSystems
(http://www.ams.org/online_bks/coll9/)Birkhoff'smostdurableresulthasbeenhis1931discoveryofwhat
isnowcalledtheergodictheorem.Combininginsightsfromphysicsontheergodichypothesiswith
measuretheory,thistheoremsolved,atleastinprinciple,afundamentalproblemofstatisticalmechanics.
Theergodictheoremhasalsohadrepercussionsfordynamics.
StephenSmalemadesignificantadvancesaswell.HisfirstcontributionistheSmalehorseshoethat
jumpstartedsignificantresearchindynamicalsystems.Healsooutlinedaresearchprogramcarriedoutby
manyothers.
OleksandrMykolaiovychSharkovskydevelopedSharkovsky'sTheoremontheperiodsofdiscrete
dynamicalsystemsin1964.Oneoftheimplicationsofthetheoremisthatifadiscretedynamicalsystemon
thereallinehasaperiodicpointofperiod3,thenitmusthaveperiodicpointsofeveryotherperiod.

Basicdefinitions
AdynamicalsystemisamanifoldMcalledthephase(orstate)spaceendowedwithafamilyofsmooth
evolutionfunctionstthatforanyelementoftT,thetime,mapapointofthephasespacebackintothe
phasespace.Thenotionofsmoothnesschangeswithapplicationsandthetypeofmanifold.Thereare
severalchoicesforthesetT.WhenTistakentobethereals,thedynamicalsystemiscalledaflowandifT
isrestrictedtothenonnegativereals,thenthedynamicalsystemisasemiflow.WhenTistakentobethe
integers,itisacascadeoramapandtherestrictiontothenonnegativeintegersisasemicascade.

Examples
Theevolutionfunctiontisoftenthesolutionofadifferentialequationofmotion

Theequationgivesthetimederivative,representedbythedot,ofatrajectoryx(t)onthephasespace
startingatsomepointx0 .Thevectorfieldv(x)isasmoothfunctionthatateverypointofthephasespaceM
providesthevelocityvectorofthedynamicalsystematthatpoint.(Thesevectorsarenotvectorsinthe
phasespaceM,butinthetangentspaceTxMofthepointx.)Givenasmootht,anautonomousvector
fieldcanbederivedfromit.
Thereisnoneedforhigherorderderivativesintheequation,norfortimedependenceinv(x)becausethese
canbeeliminatedbyconsideringsystemsofhigherdimensions.Othertypesofdifferentialequationscan
beusedtodefinetheevolutionrule:

isanexampleofanequationthatarisesfromthemodelingofmechanicalsystemswithcomplicated
constraints.
Thedifferentialequationsdeterminingtheevolutionfunctiontareoftenordinarydifferentialequations:
inthiscasethephasespaceMisafinitedimensionalmanifold.Manyoftheconceptsindynamicalsystems
canbeextendedtoinfinitedimensionalmanifoldsthosethatarelocallyBanachspacesinwhichcase
thedifferentialequationsarepartialdifferentialequations.Inthelate20thcenturythedynamicalsystem
perspectivetopartialdifferentialequationsstartedgainingpopularity.

Furtherexamples
Logisticmap
Complexquadraticpolynomial
Dyadictransformation
Tentmap
Doublependulum
Arnold'scatmap
Horseshoemap
Baker'smapisanexampleofachaoticpiecewiselinearmap
Billiardsandouterbilliards
Hnonmap
Lorenzsystem
Circlemap
Rsslermap
KaplanYorkemap
Listofchaoticmaps
SwingingAtwood'smachine
Quadraticmapsimulationsystem
Bouncingballdynamics

Lineardynamicalsystems
Lineardynamicalsystemscanbesolvedintermsofsimplefunctionsandthebehaviorofallorbits
classified.InalinearsystemthephasespaceistheNdimensionalEuclideanspace,soanypointinphase
spacecanberepresentedbyavectorwithNnumbers.Theanalysisoflinearsystemsispossiblebecause
theysatisfyasuperpositionprinciple:ifu(t)andw(t)satisfythedifferentialequationforthevectorfield
(butnotnecessarilytheinitialcondition),thensowillu(t)+w(t).

Flows
Foraflow,thevectorfield(x)isanaffinefunctionofthepositioninthephasespace,thatis,

withAamatrix,bavectorofnumbersandxthepositionvector.Thesolutiontothissystemcanbefound
byusingthesuperpositionprinciple(linearity).Thecaseb0withA=0isjustastraightlineinthe
directionofb:

WhenbiszeroandA0theoriginisanequilibrium(orsingular)pointoftheflow,thatis,ifx0 =0,then
theorbitremainsthere.Forotherinitialconditions,theequationofmotionisgivenbytheexponentialofa
matrix:foraninitialpointx0 ,

Whenb=0,theeigenvaluesofAdeterminethestructureofthephasespace.Fromtheeigenvaluesandthe
eigenvectorsofAitispossibletodetermineifaninitialpointwillconvergeordivergetotheequilibrium
pointattheorigin.
ThedistancebetweentwodifferentinitialconditionsinthecaseA0willchangeexponentiallyinmost
cases,eitherconvergingexponentiallyfasttowardsapoint,ordivergingexponentiallyfast.Linearsystems
displaysensitivedependenceoninitialconditionsinthecaseofdivergence.Fornonlinearsystemsthisis
oneofthe(necessarybutnotsufficient)conditionsforchaoticbehavior.

Linearvectorfieldsandafewtrajectories.

Maps
Adiscretetime,affinedynamicalsystemhastheformofamatrixdifferenceequation:

withAamatrixandbavector.Asinthecontinuouscase,thechangeofcoordinatesxx+(1A)1 b
removesthetermbfromtheequation.Inthenewcoordinatesystem,theoriginisafixedpointofthemap
andthesolutionsareofthelinearsystemAn x0 .Thesolutionsforthemaparenolongercurves,butpoints
thathopinthephasespace.Theorbitsareorganizedincurves,orfibers,whicharecollectionsofpoints
thatmapintothemselvesundertheactionofthemap.
Asinthecontinuouscase,theeigenvaluesandeigenvectorsofAdeterminethestructureofphasespace.
Forexample,ifu1 isaneigenvectorofA,witharealeigenvaluesmallerthanone,thenthestraightlines
givenbythepointsalongu1 ,withR,isaninvariantcurveofthemap.Pointsinthisstraightlinerun
intothefixedpoint.
Therearealsomanyotherdiscretedynamicalsystems.

Localdynamics
Thequalitativepropertiesofdynamicalsystemsdonotchangeunderasmoothchangeofcoordinates(this
issometimestakenasadefinitionofqualitative):asingularpointofthevectorfield(apoint
wherev(x)=0)willremainasingularpointundersmoothtransformationsaperiodicorbitisaloopin
phasespaceandsmoothdeformationsofthephasespacecannotalteritbeingaloop.Itisinthe
neighborhoodofsingularpointsandperiodicorbitsthatthestructureofaphasespaceofadynamical
systemcanbewellunderstood.Inthequalitativestudyofdynamicalsystems,theapproachistoshowthat
thereisachangeofcoordinates(usuallyunspecified,butcomputable)thatmakesthedynamicalsystemas
simpleaspossible.

Rectification
Aflowinmostsmallpatchesofthephasespacecanbemadeverysimple.Ifyisapointwherethevector
fieldv(y)0,thenthereisachangeofcoordinatesforaregionaroundywherethevectorfieldbecomesa
seriesofparallelvectorsofthesamemagnitude.Thisisknownastherectificationtheorem.
Therectificationtheoremsaysthatawayfromsingularpointsthedynamicsofapointinasmallpatchisa
straightline.Thepatchcansometimesbeenlargedbystitchingseveralpatchestogether,andwhenthis
worksoutinthewholephasespaceMthedynamicalsystemisintegrable.Inmostcasesthepatchcannot
beextendedtotheentirephasespace.Theremaybesingularpointsinthevectorfield(wherev(x)=0)or
thepatchesmaybecomesmallerandsmallerassomepointisapproached.Themoresubtlereasonisa
globalconstraint,wherethetrajectorystartsoutinapatch,andaftervisitingaseriesofotherpatchescomes
backtotheoriginalone.Ifthenexttimetheorbitloopsaroundphasespaceinadifferentway,thenitis
impossibletorectifythevectorfieldinthewholeseriesofpatches.

Nearperiodicorbits
Ingeneral,intheneighborhoodofaperiodicorbittherectificationtheoremcannotbeused.Poincar
developedanapproachthattransformstheanalysisnearaperiodicorbittotheanalysisofamap.Picka
pointx0 intheorbitandconsiderthepointsinphasespaceinthatneighborhoodthatareperpendicularto

v(x0 ).ThesepointsareaPoincarsectionS(,x0 ),oftheorbit.Theflownowdefinesamap,thePoincar

mapF:SS,forpointsstartinginSandreturningtoS.Notallthesepointswilltakethesameamountof
timetocomeback,butthetimeswillbeclosetothetimeittakesx0 .
TheintersectionoftheperiodicorbitwiththePoincarsectionisafixedpointofthePoincarmapF.Bya
translation,thepointcanbeassumedtobeatx=0.TheTaylorseriesofthemapisF(x)=Jx+O(x2 ),so
achangeofcoordinateshcanonlybeexpectedtosimplifyFtoitslinearpart

Thisisknownastheconjugationequation.Findingconditionsforthisequationtoholdhasbeenoneofthe
majortasksofresearchindynamicalsystems.Poincarfirstapproacheditassumingallfunctionstobe
analyticandintheprocessdiscoveredthenonresonantcondition.If1 ,...,aretheeigenvaluesofJthey
willberesonantifoneeigenvalueisanintegerlinearcombinationoftwoormoreoftheothers.Asterms
oftheformi(multiplesofothereigenvalues)occursinthedenominatorofthetermsforthefunction
h,thenonresonantconditionisalsoknownasthesmalldivisorproblem.

Conjugationresults
TheresultsontheexistenceofasolutiontotheconjugationequationdependontheeigenvaluesofJand
thedegreeofsmoothnessrequiredfromh.AsJdoesnotneedtohaveanyspecialsymmetries,its
eigenvalueswilltypicallybecomplexnumbers.WhentheeigenvaluesofJarenotintheunitcircle,the
dynamicsnearthefixedpointx0 ofFiscalledhyperbolicandwhentheeigenvaluesareontheunitcircle
andcomplex,thedynamicsiscalledelliptic.
Inthehyperboliccase,theHartmanGrobmantheoremgivestheconditionsfortheexistenceofa
continuousfunctionthatmapstheneighborhoodofthefixedpointofthemaptothelinearmapJx.The
hyperboliccaseisalsostructurallystable.Smallchangesinthevectorfieldwillonlyproducesmall
changesinthePoincarmapandthesesmallchangeswillreflectinsmallchangesinthepositionofthe
eigenvaluesofJinthecomplexplane,implyingthatthemapisstillhyperbolic.
TheKolmogorovArnoldMoser(KAM)theoremgivesthebehaviornearanellipticpoint.

Bifurcationtheory
Whentheevolutionmapt(orthevectorfielditisderivedfrom)dependsonaparameter,thestructure
ofthephasespacewillalsodependonthisparameter.Smallchangesmayproducenoqualitativechanges
inthephasespaceuntilaspecialvalue0 isreached.Atthispointthephasespacechangesqualitatively
andthedynamicalsystemissaidtohavegonethroughabifurcation.
Bifurcationtheoryconsidersastructureinphasespace(typicallyafixedpoint,aperiodicorbit,oran
invarianttorus)andstudiesitsbehaviorasafunctionoftheparameter.Atthebifurcationpointthe
structuremaychangeitsstability,splitintonewstructures,ormergewithotherstructures.ByusingTaylor
seriesapproximationsofthemapsandanunderstandingofthedifferencesthatmaybeeliminatedbya
changeofcoordinates,itispossibletocatalogthebifurcationsofdynamicalsystems.

Thebifurcationsofahyperbolicfixedpointx0 ofasystemfamilyFcanbecharacterizedbythe
eigenvaluesofthefirstderivativeofthesystemDF(x0 )computedatthebifurcationpoint.Foramap,the
bifurcationwilloccurwhenthereareeigenvaluesofDFontheunitcircle.Foraflow,itwilloccurwhen
thereareeigenvaluesontheimaginaryaxis.Formoreinformation,seethemainarticleonBifurcation
theory.
Somebifurcationscanleadtoverycomplicatedstructuresinphasespace.Forexample,theRuelleTakens
scenariodescribeshowaperiodicorbitbifurcatesintoatorusandthetorusintoastrangeattractor.In
anotherexample,Feigenbaumperioddoublingdescribeshowastableperiodicorbitgoesthroughaseries
ofperioddoublingbifurcations.

Ergodicsystems
Inmanydynamicalsystems,itispossibletochoosethecoordinatesofthesystemsothatthevolume(really
adimensionalvolume)inphasespaceisinvariant.Thishappensformechanicalsystemsderivedfrom
Newton'slawsaslongasthecoordinatesarethepositionandthemomentumandthevolumeismeasured
inunitsof(position)(momentum).TheflowtakespointsofasubsetAintothepointst(A)and
invarianceofthephasespacemeansthat

IntheHamiltonianformalism,givenacoordinateitispossibletoderivetheappropriate(generalized)
momentumsuchthattheassociatedvolumeispreservedbytheflow.Thevolumeissaidtobecomputed
bytheLiouvillemeasure.
InaHamiltoniansystem,notallpossibleconfigurationsofpositionandmomentumcanbereachedfroman
initialcondition.Becauseofenergyconservation,onlythestateswiththesameenergyastheinitial
conditionareaccessible.Thestateswiththesameenergyformanenergyshell,asubmanifoldofthe
phasespace.Thevolumeoftheenergyshell,computedusingtheLiouvillemeasure,ispreservedunder
evolution.
Forsystemswherethevolumeispreservedbytheflow,Poincardiscoveredtherecurrencetheorem:
AssumethephasespacehasafiniteLiouvillevolumeandletFbeaphasespacevolumepreservingmap
andAasubsetofthephasespace.ThenalmosteverypointofAreturnstoAinfinitelyoften.ThePoincar
recurrencetheoremwasusedbyZermelotoobjecttoBoltzmann'sderivationoftheincreaseinentropyina
dynamicalsystemofcollidingatoms.
OneofthequestionsraisedbyBoltzmann'sworkwasthepossibleequalitybetweentimeaveragesand
spaceaverages,whathecalledtheergodichypothesis.Thehypothesisstatesthatthelengthoftimea
typicaltrajectoryspendsinaregionAisvol(A)/vol().
Theergodichypothesisturnedoutnottobetheessentialpropertyneededforthedevelopmentofstatistical
mechanicsandaseriesofotherergodiclikepropertieswereintroducedtocapturetherelevantaspectsof
physicalsystems.Koopmanapproachedthestudyofergodicsystemsbytheuseoffunctionalanalysis.An
observableaisafunctionthattoeachpointofthephasespaceassociatesanumber(sayinstantaneous
pressure,oraverageheight).Thevalueofanobservablecanbecomputedatanothertimebyusingthe
evolutionfunctiont.ThisintroducesanoperatorUt,thetransferoperator,

BystudyingthespectralpropertiesofthelinearoperatorUitbecomespossibletoclassifytheergodic
propertiesoft.InusingtheKoopmanapproachofconsideringtheactionoftheflowonanobservable
function,thefinitedimensionalnonlinearprobleminvolvingtgetsmappedintoaninfinitedimensional
linearprobleminvolvingU.
TheLiouvillemeasurerestrictedtotheenergysurfaceisthebasisfortheaveragescomputedin
equilibriumstatisticalmechanics.Anaverageintimealongatrajectoryisequivalenttoanaverageinspace
computedwiththeBoltzmannfactorexp(H).ThisideahasbeengeneralizedbySinai,Bowen,and
Ruelle(SRB)toalargerclassofdynamicalsystemsthatincludesdissipativesystems.SRBmeasures
replacetheBoltzmannfactorandtheyaredefinedonattractorsofchaoticsystems.

Nonlineardynamicalsystemsandchaos
Simplenonlineardynamicalsystemsandevenpiecewiselinearsystemscanexhibitacompletely
unpredictablebehavior,whichmightseemtoberandom,despitethefactthattheyarefundamentally
deterministic.Thisseeminglyunpredictablebehaviorhasbeencalledchaos.Hyperbolicsystemsare
preciselydefineddynamicalsystemsthatexhibitthepropertiesascribedtochaoticsystems.Inhyperbolic
systemsthetangentspaceperpendiculartoatrajectorycanbewellseparatedintotwoparts:onewiththe
pointsthatconvergetowardstheorbit(thestablemanifold)andanotherofthepointsthatdivergefromthe
orbit(theunstablemanifold).
Thisbranchofmathematicsdealswiththelongtermqualitativebehaviorofdynamicalsystems.Here,the
focusisnotonfindingprecisesolutionstotheequationsdefiningthedynamicalsystem(whichisoften
hopeless),butrathertoanswerquestionslike"Willthesystemsettledowntoasteadystateinthelong
term,andifso,whatarethepossibleattractors?"or"Doesthelongtermbehaviorofthesystemdependon
itsinitialcondition?"
Notethatthechaoticbehaviorofcomplexsystemsisnottheissue.Meteorologyhasbeenknownforyears
toinvolvecomplexevenchaoticbehavior.Chaostheoryhasbeensosurprisingbecausechaoscanbe
foundwithinalmosttrivialsystems.Thelogisticmapisonlyaseconddegreepolynomialthehorseshoe
mapispiecewiselinear.

Geometricaldefinition
Adynamicalsystemisthetuple
space),

,with

amanifold(locallyaBanachspaceorEuclidean

thedomainfortime(nonnegativereals,theintegers,...)andfanevolutionruletft(with

)suchthatftisadiffeomorphismofthemanifoldtoitself.So,fisamappingofthetimedomain
intothespaceofdiffeomorphismsofthemanifoldtoitself.Inotherterms,f(t)isadiffeomorphism,for
everytimetinthedomain .

Measuretheoreticaldefinition
Adynamicalsystemmaybedefinedformally,asameasurepreservingtransformationofasigmaalgebra,
thequadruplet(X,,,).Here,Xisaset,andisasigmaalgebraonX,sothatthepair(X,)isa
measurablespace.isafinitemeasureonthesigmaalgebra,sothatthetriplet(X,,)isaprobability
space.Amap:XXissaidtobemeasurableifandonlyif,forevery,onehas
.A
mapissaidtopreservethemeasureifandonlyif,forevery,onehas
.

Combiningtheabove,amapissaidtobeameasurepreservingtransformationofX,ifitisamap
fromXtoitself,itismeasurable,andismeasurepreserving.Thequadruple(X,,,),forsucha,is
thendefinedtobeadynamicalsystem.
Themapembodiesthetimeevolutionofthedynamicalsystem.Thus,fordiscretedynamicalsystemsthe
iterates
forintegernarestudied.Forcontinuousdynamicalsystems,themapis
understoodtobeafinitetimeevolutionmapandtheconstructionismorecomplicated.

Examplesofdynamicalsystems
Arnold'scatmap
Baker'smapisanexampleofachaoticpiecewiselinearmap
Circlemap
Doublependulum
BilliardsandOuterbilliards
Hnonmap
Horseshoemap
Irrationalrotation
Listofchaoticmaps
Logisticmap
Lorenzsystem
Rosslermap

Multidimensionalgeneralization
Dynamicalsystemsaredefinedoverasingleindependentvariable,usuallythoughtofastime.Amore
generalclassofsystemsaredefinedovermultipleindependentvariablesandarethereforecalled
multidimensionalsystems.Suchsystemsareusefulformodeling,forexample,imageprocessing.

Seealso
Behavioralmodeling
Cognitivemodeling
Dynamicalsystemstheory
Feedbackpassivation
Infinitecompositionsofanalyticfunctions
Listofdynamicalsystemtopics
Oscillation
Peopleinsystemsandcontrol
Sharkovskii'stheorem
Systemdynamics
Systemstheory

References
1. ^Holmes,Philip."Poincar,celestialmechanics,dynamicalsystemstheoryandchaos."PhysicsReports
193.3(1990):137163.

Furtherreading
Worksprovidingabroadcoverage:
RalphAbrahamandJerroldE.Marsden(1978).Foundationsofmechanics.BenjaminCummings.
ISBN080530102X.(availableasareprint:ISBN0201408406)
EncyclopaediaofMathematicalSciences(ISSN09380396)hasasubseriesondynamicalsystems
withreviewsofcurrentresearch.
ChristianBonatti,LorenzoJ.Daz,MarceloViana(2005).DynamicsBeyondUniform
Hyperbolicity:AGlobalGeometricandProbabilisticPerspective.Springer.ISBN3540220666.
StephenSmale(1967)."Differentiabledynamicalsystems".BulletinoftheAmericanMathematical
Society73(6):747817.doi:10.1090/S000299041967117981
(http://dx.doi.org/10.1090%2FS000299041967117981).
Introductorytextswithauniqueperspective:
V.I.Arnold(1982).Mathematicalmethodsofclassicalmechanics.SpringerVerlag.ISBN0387
968903.
JacobPalisandWellingtondeMelo(1982).Geometrictheoryofdynamicalsystems:an
introduction.SpringerVerlag.ISBN0387906681.
DavidRuelle(1989).ElementsofDifferentiableDynamicsandBifurcationTheory.Academic
Press.ISBN0126017107.
TimBedford,MichaelKeaneandCarolineSeries,eds.(1991).Ergodictheory,symbolicdynamics
andhyperbolicspaces.OxfordUniversityPress.ISBN019853390X.
RalphH.AbrahamandChristopherD.Shaw(1992).Dynamicsthegeometryofbehavior,2nd
edition.AddisonWesley.ISBN0201567164.
Textbooks
KathleenT.Alligood,TimD.SauerandJamesA.Yorke(2000).Chaos.Anintroductionto
dynamicalsystems.SpringerVerlag.ISBN0387946772.
OdedGalor(2011).DiscreteDynamicalSystems.Springer.ISBN9783642071850.
AnatoleKatokandBorisHasselblatt(1996).Introductiontothemoderntheoryofdynamical
systems.Cambridge.ISBN0521575575.
GuenterLudyk(1985).StabilityofTimevariantDiscreteTimeSystems.Springer.ISBN3528

089113.
StephenLynch(2010).DynamicalSystemswithApplicationsusingMaple2ndEd.Springer.
ISBN0817643893.
StephenLynch(2007).DynamicalSystemswithApplicationsusingMathematica.Springer.
ISBN0817644822.
StephenLynch(2004).DynamicalSystemswithApplicationsusingMATLAB.Springer.ISBN0
817643214.
JamesMeiss(2007).DifferentialDynamicalSystems.SIAM.ISBN0898716357.
MorrisW.Hirsch,StephenSmaleandRobertDevaney(2003).DifferentialEquations,dynamical
systems,andanintroductiontochaos.AcademicPress.ISBN0123497035.
JulienClintonSprott(2003).Chaosandtimeseriesanalysis.OxfordUniversityPress.ISBN019
8508395.
StevenH.Strogatz(1994).Nonlineardynamicsandchaos:withapplicationstophysics,biology
chemistryandengineering.AddisonWesley.ISBN0201543443.
Teschl,Gerald(2012).OrdinaryDifferentialEquationsandDynamicalSystems
(http://www.mat.univie.ac.at/~gerald/ftp/bookode/).Providence:AmericanMathematicalSociety.
ISBN9780821883280.
StephenWiggins(2003).IntroductiontoAppliedDynamicalSystemsandChaos.Springer.
ISBN0387001778.
Popularizations:
FlorinDiacuandPhilipHolmes(1996).CelestialEncounters.Princeton.ISBN0691027439.
JamesGleick(1988).Chaos:MakingaNewScience.Penguin.ISBN0140092501.
IvarEkeland(1990).MathematicsandtheUnexpected(Paperback).UniversityOfChicagoPress.
ISBN0226199908.
IanStewart(1997).DoesGodPlayDice?TheNewMathematicsofChaos.Penguin.ISBN014
0256024.

Externallinks
InteractiveappletfortheStandardandHenonMaps
(http://complexity.xozzox.de/nonlinmappings.html)byA.Luhn
Acollectionofdynamicandnonlinearsystemmodelsanddemoapplets
(http://vlab.infotech.monash.edu.au/simulations/nonlinear/)(inMonashUniversity'sVirtualLab)
Arxivpreprintserver(http://www.arxiv.org/list/math.DS/recent)hasdailysubmissionsof(non
refereed)manuscriptsindynamicalsystems.
DSWeb(http://www.dynamicalsystems.org/)providesuptodateinformationondynamicalsystems
anditsapplications.

Encyclopediaofdynamicalsystems
(http://www.scholarpedia.org/article/Encyclopedia_of_Dynamical_Systems)ApartofScholarpedia
peerreviewedandwrittenbyinvitedexperts.
NonlinearDynamics(http://www.egwald.ca/nonlineardynamics/index.php).Modelsofbifurcation
andchaosbyElmerG.Wiens
OliverKnill(http://www.dynamicalsystems.org)hasaseriesofexamplesofdynamicalsystems
withexplanationsandinteractivecontrols.
Sci.NonlinearFAQ2.0(Sept2003)(http://amath.colorado.edu/faculty/jdm/faqContents.html)
providesdefinitions,explanationsandresourcesrelatedtononlinearscience
Onlinebooksorlecturenotes:
Geometricaltheoryofdynamicalsystems(http://arxiv.org/pdf/math.HO/0111177).NilsBerglund's
lecturenotesforacourseatETHattheadvancedundergraduatelevel.
Dynamicalsystems(http://www.ams.org/online_bks/coll9/).GeorgeD.Birkhoff's1927book
alreadytakesamodernapproachtodynamicalsystems.
Chaos:classicalandquantum(http://chaosbook.org).Anintroductiontodynamicalsystemsfromthe
periodicorbitpointofview.
ModelingDynamicSystems(http://www.embedded.com/2000/0008/0008feat2.htm).An
introductiontothedevelopmentofmathematicalmodelsofdynamicsystems.
LearningDynamicalSystems(http://www.cs.brown.edu/research/ai/dynamics/tutorial/home.html).
Tutorialonlearningdynamicalsystems.
OrdinaryDifferentialEquationsandDynamicalSystems
(http://www.mat.univie.ac.at/~gerald/ftp/bookode/).LecturenotesbyGeraldTeschl
Researchgroups:
DynamicalSystemsGroupGroningen(http://www.math.rug.nl/~broer/),IWI,Universityof
Groningen.
Chaos@UMD(http://wwwchaos.umd.edu/).Concentratesontheapplicationsofdynamical
systems.
DynamicalSystems(http://www.math.sunysb.edu/dynamics/),SUNYStonyBrook.Listsof
conferences,researchers,andsomeopenproblems.
CenterforDynamicsandGeometry(http://www.math.psu.edu/dynsys/),PennState.
ControlandDynamicalSystems(http://www.cds.caltech.edu/),Caltech.
LaboratoryofNonlinearSystems(http://lanoswww.epfl.ch/),EcolePolytechniqueFdralede
Lausanne(EPFL).
CenterforDynamicalSystems(http://www.math.unibremen.de/ids.html/),UniversityofBremen
SystemsAnalysis,ModellingandPredictionGroup(http://www.eng.ox.ac.uk/samp/),Universityof
Oxford

NonLinearDynamicsGroup(http://sd.ist.utl.pt/),InstitutoSuperiorTcnico,TechnicalUniversity
ofLisbon
DynamicalSystems(http://www.impa.br/),IMPA,InstitutoNacionaldeMatemticaPurae
Applicada.
NonlinearDynamicsWorkgroup(http://ndw.cs.cas.cz/),InstituteofComputerScience,Czech
AcademyofSciences.
SimulationsoftwarebasedonDynamicalSystemsapproach:
FyDiK(http://fydik.kitnarf.cz/)
iDMC(http://idmc.googlecode.com),simulationanddynamicalanalysisofnonlinearmodels
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