A NNALES DE L ’I. H. P., SECTION A
X U -S HENG Z HANG F RANCO V IVALDI
Small perturbations of a discrete twist map
Annales de l’I. H. P., section A, tome 68, n
o4 (1998), p. 507-523
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507
Small perturbations of
adiscrete twist map
Xu-Sheng
ZHANG* and Franco VIVALDI School of Mathematical Sciences, Queen Mary and Westfield College,Mile End Road, London El 4NS, England
E-mail:
f. vivaldi@qmw.ac.uk.
Vol. 68, n° 4, 1998, Physique théorique
ABSTRACT. - We
investigate numerically
aone-parameter family
of twistmappings acting
on a discrete lattice on the two-dimensional torus, andsubject
to aperturbation
whosemagnitude
has the same size as the latticespacing.
These maps mimic the effects of(invertible)
round-off errors onthe orbits of an
integrable
twist map. Weexplore
resonant and non-resonant behaviour in the limit of small latticespacing,
and find adynamics
rich inarithmetical and statistical features. @
Elsevier,
ParisKey words: hamiltonian chaos, discrete twist map, round-off errors, periodic orbits, complexity.
RESUME. - Nous etudions
numeriquement
une famille a unparametre d’ applications
« twist »integrable.
Nousexplorons
lescomportements
resonnants et nonresonnants,
dans la limite despetites mailles,
et nousexhibons des
comportements dynamiques
riches tant dupoint
de vuearithmetique
questatistique.
@Elsevier,
Paris1. INTRODUCTION
The
study
of hamiltoniansystems
with discretephase
space has been the focus of research for many years.Following
thepioneering
work of* Permanent address: Centre for Nonlinear Complex Systems, Yunnan University, Kunming 650091, Yunnan, P.R. China.
Annales de l’lnstitut Henri Poincaré - Physique théorique - 0246-0211 1
Vol. 68/98/04/@ Elsevier, Paris
508 X.-S. ZHANG AND F. VIVALDI
Rannou
[15],
discretization has been introduced for the most varied reasons:to mimic
quantum
effects in classicalsystems [5],
to achieveinvertibility
ina delicate numerical
experiment [8],
to characterize hamiltonian chaosarithmetically [14, 1, 6],
toexplore
variousphenomena
connected tonumerical orbits
[9, 16, 7, 17, 11, 13].
An
important property
of all the hamiltoniansystems
mentionedabove,
is that discretization wasperformed
in such a way as to retaininvertibility.
Thisrequirement
is necessary forconsistency
withsymplectic geometry,
in thesense that an invertible discretized
system
can be viewed as the restrictionto a discrete set of some
simplectic
map of thecontinuum, although
not
necessarily
of theoriginal
one.(Dissipative
discreterepresentations
of
symplectic
maps have also beenconsidered, mainly
in the context ofround-off errors
[2, 18, 10].)
In the
simplest instances, discretizing
amounts torestricting
a continuumsystem
to an invariant discrete set, in which caseinvertibility
is achievedautomatically.
More oftenhowever,
one truncates real coordinates. When this process preservesinvertibility,
one has a small canonicalperturbation
of the
original
continuumsystem,
whichgenerates
fluctuations but nodissipation. Then,
if thephase
space isfinite,
all discrete orbits areperiodic.
If it is
infinite,
some orbits may escape toinfinity
in both time directions. Theproblem
ofstability
under discretization is aprominent
one,particularly
ifthe continuum
system
is stable.The
present
work is devoted to a numericalexploration
of afamily
ofinvertible twist maps of the
Chirikov-Taylor type [4], acting
on a discretedoubly-periodic
lattice(Z~~VZ)2,
which is obtainedby reducing integer
coordinates modulo a
(large) integer
N.The maps are defined as follows
with
Here A is a real
number,
is the fractionalpart
of Theperturbation
function(2)
has unitmagnitude,
and itsdependence
on x isperiodic
if A is rational andquasi-periodic
if A is irrational. The effect of theperturbation
is todisplace
they-coordinate by
the ’atomic’ distancebetween lattice
points.
Theinvertibility of 03A603BB
iseasily
verified.Without
perturbation,
the map( 1 )
is a linearintegrable twist,
whichdepends
on thesingle parameter N, determining
the coarseness of the discretization. Inspite
of itssimplicity,
theunperturbed system already
possesses non-trivial
features,
which are found -for instance- in theasymptotics (N ~ oo)
of someorbit-counting
functions. One findsinteresting scaling properties, together
with fluctuations of arithmeticalorigin [13].
The functions Ea defined above have been chosen to
satisfy
threerequirements:
to have a boundedmagnitude,
todepend regularly
oncoordinates
(the meaning
of’regular’
will be clarifiedbelow),
and tohave a
vanishing
averageThese
properties
feature -for instance- inperturbations resulting
fromround-off errors, and we shall
regard
this as one motivation for thestudy
ofthe above
system (even though
we make no claim that oursystem
describes round-off errorsrealistically).
Inaddition,
Ea nevervanishes,
aproperty
we have introduced in order to maximize the instabilitiesgenerated by
suchsmall
perturbations. Independently
from the round-offproblem,
the model( 1 )
may also be viewed as aprototype
for small nonlinear interaction on a lattice.The information stored in the
perturbing
function Ea may bequantified by considering
the numberCk
of allpossible k-subsequences
of thedoubly-
infinite sequence x ~ ~03BB(x), x G Z. The function
Ck
is sometimes referred to as the’complexity’
of the sequence.Regular
andirregular
behaviour in asequence over a finite
symbol
space, is then associated to thegrowth
rate ofCk being polynomial
ornon-polynomial
ink, respectively.
In our case, thecomplexity
of is linear:Ck 2 k,
for any choice of A(cf. also[12]).
In this paper we
explore
two extremeregimes, corresponding
to Aapproaching
zero(the
’most rational’number),
and thegolden
mean(the
’most irrational’
number), respectively.
The former case will be dealt within sections 2 and
3,
where we consider theparameter
values A = forlarge
N. We find that thedynamics displays
some familiar features ofperturbed
twist maps with dividedphase
space(Figure 1 ).
Inparticular,
these
mappings
maysupport
stable librations at resonance, which form ovalregions
filled withperiodic
orbits. Theirexistence,
size and detaileddynamics depend
in a delicate manner on the rotationnumber,
and on thediscretization size N. Our main result is the arithmetical characterization
Vol. 68, n° 4-1998.
510 X.-S. ZHANG AND F. VIVALDI
of such
dependence,
and the formulation of conditions for thestability
oflibrations at resonance.
By
contrast, the case ofquasi-periodic perturbation (A = (1 + V5) /2)
lacks
geometrical features,
and will be describedstatistically (see
section4).
We have
analyzed numerically
thegrowth
of theperiod
of thelongest
orbit on a
given N-lattice, showing
that in the limit oflarge N,
suchperiod
grows
quadratically, meaning
thatlong
orbits occupy a finiteportion
ofthe
phase
space.The characterization of the
transport
in the ’action’ variable yproved
more
difficult,
due tolarge
fluctuations and slow convergence.Nonetheless,
we shall offer some evidence of the existence of a diffusion coefficient.
Finally,
we have estimated thecomplexity
of thesequences t
~ =Yt+ 1 - yt, which determines the
possible
time-evolutions of the action.We find that
initially
thecomplexity
growsexponentially Ck
=2~, i.e.,
allsufficiently
shortbinary subsequences
arerepresented.
Theexponential growth
is followedby
analgebraic
one after a’breaktime’,
for which we have obtained somepreliminary
numerical estimates.Annales de l’lnstitut Henri Poincaré -
This work was
partially supported by
the UKEngineering
andPhysical
Sciences Research Council under
grant
number GR/K 17026.2. LOCAL MAPPINGS
In this section we consider the behaviour of the
mapping ( 1 )
incorrespondence
to values of A near zero(Figure 1 ). Letting
A =in
(2),
we obtain aperiodic E-function,
ofperiod N, given explicitly by
where
[’J
is the floor function. Here theperiodicity
of A matches theperiodicity
of the lattice. This is done to minimize the total flux~~=o~
which would otherwise
produce
a net drift in y.We consider the local behaviour of in the
vicinity
of them/n
resonance, where m and n are
coprime integers.
From( 1 )
we haveWe define local coordinates
where x*
and y*
are to be determined. In what follows we shall assumethat n
N,
to ensure that the discretization issufficiently
fine tosupport
motions near the resonances of order n. Theanalysis
divides into threecases:
i) Elliptie-type
behaviour. Let n beodd,
and let x* =N/2.
Thenif IXI
issufficiently small,
we have~~6(~)
=0,
and from(4)
and(5)
we obtainThere exists a
unique integer y*
such thatVol. 68, n° 4-1998.
512 X.-S. ZHANG AND F. VIVALDI
which
corresponds
to them/n
resonance, thatis, y* :
With suchchoice
of y*
weobtain,
afterintroducing
the rescaled time s = nt(the
return time to a n-th order
resonance)
The shift a, which
depends
on Tn, n andN,
is the leastnon-negative
solution to the congruence
where
From
(9)
we havewhere we have used the fact that if t runs
through
all non-zero residueclasses modulo n, so does s =
mt,
since m isrelatively prime
to n, andthen we have
re-arranged
the sum. Because n isodd,
2 has an inversemodulo n,
and we haveand
finally,
from(8)
ii) Hyperbolic-type
behaviour. Let n be odd. The choice ~* = 0yields
the local map for unstable motions
where
a’
is nowgiven by
iii ) Parabolic-type
behaviour. Let n be even. We have Et =0,
andproceeding
as above we obtainwhere a is
given by
This time the local
mapping
describes the behaviour near, x* =L N /2 J
+lV~(2 n~.
We are interested in the instances in which the local
dynamics
maysupport
bounded invariant sets, since the latter can be realized in theglobal mapping, by choosing
Nsufficiently large.
For
hyperbolic-type
motions( 15),
one verifies that all local orbits escape toinfinity.
This case is of little interest to us.In the local
parabolic mapping (17)
all orbits escape if a >0,
while for a = 0 the entire X-axis is fixed. Thecorresponding global
invariantset consists of n
segments, joined
at theboundary by (possibly)
astep
of unitmagnitude
in they-direction.
These invariant sets are theanalogue
ofencircling
invariant sets of the KAMtype,
and will be calledquasi-tori.
A
quasi-torus
can existonly
when a =0,
for otherwise the line of fixedpoints
Y= 2014r/n
does not occur at aninteger
value ofY,
and thereforeit is not realized on the
integer
lattice.The richest
dynamics
is found in the localelliptic
motions(7),
which weshall
study
in the next section. Akey
localparameter
is the shift cr, whose valuedepends
on theglobal
rotation numberm/n
as well as on the size Nof the
discretization, according
to(14).
Thefollowing
result characterizesa sequence of lattices for which the
correspondence
betweenglobal
andlocal
dynamics
isparticularly simple.
PROPOSITION 1. - Let n be odd. Then
if
N is anysuficiently large multiple of n,
all n-order resonancesof
themapping (1)
have a distinct normalform, corresponding
to all valuesof
arelatively prime
to n.(The meaning
of’sufficiently large’
will be discussed in the nextsection.)
Vol. 68, n° 4-1998.
514 X.-S. ZHANG AND F. VIVALDI
The above result follows
readily
from(14).
If n dividesN,
theequation
has
precisely
one non-zero solution m for each choice of aprime
to n. Inparticular,
if n isprime,
then a can be chosenarbitrarily.
On the otherhand,
if n does not divideN,
then ingeneral
themapping
m ~a( m)
is not invertible modulo n, so that the localdynamics
at distinct rotation numbers may be the same. Each allowed value of a will be realized for
infinitely
many values ofN, corresponding
to arithmeticprogressions
modulo n.3. STRUCTURE OF DISCRETE RESONANCES
In this section we
study
thegeometrical properties
of theelliptic-type
resonant motions of the local
mapping (7).
The main tool is the associated returnmapping
F of thenon-negative X-axis,
which is crossedrepeatedly by
every orbit. Suchmapping
is obtained as thecomposition
of twotransformations,
F = F- oF~ carrying
the orbit fromnon-negative
valuesof X to
negative
ones, and vice-versa. We findand
where
~~~
is theceiling
function.Composition
of the twomappings yields
For every n and (J’, the
half-way
return mapsF~
arediscontinuous’,
inthe sense that
they
have unbounded variationsF~ ~ X
+1 ) - F~ ( X ~ .
Thereare
infinitely
manyjumps, occurring
incorrespondence
of the discontinuities of theceiling
function in(19)
and(20).
Thesejumps
are the root cause ofthe
complicated dynamics
of discrete resonances.We define the index
I (X )
of apoint
X to be theperiod
of the orbit of F at X. Thus a bounded orbit of(7)
has finiteindex,
while acapture-escape
orbit has infinite index. The index is(essentially)
the number ofloops
theorbit
performs
around theorigin, although
thisconcept
is not well-defined in thevicinity
of theorigin (0
X n -a).
When a is
equal
to zero, one verifies that all orbits of(7)
have index 1(one
has u- = u+ in(21 )),
thatis,
everypoint
is a fixedpoint
of the returnmapping.
Some orbits of thistype
aredisplayed
inFigure
2(left),
for aresonance of order n = 17. The overall structure is
regular,
eventhough
the
dynamics
is notentirely
trivial. The orbits areplaced asymmetrically
with
respect
to theorigin,
and intersect each other.The case of non-zero shift is more
complicated (see Figure 2, right).
The orbits
typically
have indexgreater
than1,
andperform large
radialexcursions. Some of our
findings
on the behaviour of the index functionare summarized in the
following conjecture
CONJECTURE 1. -
If
n is not divisibleby 4,
then the indexof
every orbitof
themapping (7)
does not exceed n.Moreover, if
n isprime, then, for
allsufficiently large X,
all orbits have index n.Vol. 68, n° 4-1998.
516 X.-S. ZHANG AND F. VIVALDI
For the sake of
completeness,
we have included the case of even n, eventhough
for such values themapping (7)
is not the local map of theoriginal mapping ( 1 )
at resonance.From the above
conjecture
it follows that when n is not divisibleby 4,
all orbits are bounded. The mostinteresting dynamics
takeplace
atresonances of
prime order,
for which the indexeventually
attains alimiting
value
(see Figure 2, right).
The(maximal)
criticalamplitude
characterizes theamplitude
of librations at which theasymptotic regime
sets in. It is defined as thelargest integer
e for which~(0) 7~
n. Likewise we definethe minimal critical
amplitude
to be the smallest value of () for which the indexI (B)
isequal
to n.Critical
amplitudes
have a veryirregular dependence
on the order n of the resonance and on the value a of theshift, although
several featuresdepend only
on the ratioa /n.
Thelargest
values of 8(Figure 3, left)
occurat the two
primary peaks 1/4,
and3/4,
which we have found toexist for every
prime
we have examined. Thesecondary peaks
are locatedat
a /4b,
for a and bcoprime integers,
but not all values of a and b donecessarily give
rise to apeak,
even when a and b are small(we
call b the order of thepeak). Moreover,
the existence of ahigh-order peak
ata
given
location was found todepend
on n.However,
whenever apeak
existed for asufficiently large prime
n, weverified the
following scaling
law:suggesting
the existence of alimiting value,
to be takenalong
a suitableinfinite sequence of
prime
values of n. Asimilarly irregular dependence
onthe shift is
displayed by
the minimal criticalamplitude (Figure 3, right).
In the case of a
large prime
order n, and a value of the shiftcorresponding
to the
primary peaks
of the criticalamplitude,
the normalized index reveals a comb-like structure,shaped by
a smoothenvelope (Figure 4).
Each tooth in the comb
corresponds
topoints
whose index is not maximal.We believe that this
envelope
reaches a limit functionalform,
whichis
independent
of theprime chosen,
and which describes the universalpre-asymptotic
behaviour of resonances oflarge prime
order.Finally,
we characterize the extent to which thestability
of theglobal
motions can be inferred from the local
dynamics.
We consider the intersection of a local invariant set with the Xaxis,
and define its radiusto be the absolute value of the
point
of this set which is furthest from theorigin.
LetH(X)
be thelargest
invariant set of radius notexceeding
X. We associate to
O( X)
twopositive integers, namely
its(outer)
radiusR(X)
= and its inner radiusr(X),
the latterbeing
the radiusof the
largest
intervalenclosing
theorigin,
which is contained inTranslating
the above definitions in terms ofglobal dynamics,
weconclude that the
largest
invariant set which is contained in the central island of them/n
resonance(for
oddn),
and which has a localcounterpart,
has radius notexceeding R(N/2n) (measured
from the centre of theisland).
Points located futher away will not evolve
according
to the local map, andVol. 68, n° 4-1998.
518 X.-S. ZHANG AND F. VIVALDI
are
expected
to escape from theneighbourhood
of the resonance.By
thesame
token,
the closestapproach
to the centre of the island for an orbit nondescribable in local terms is
given by r(N/2n).
In
Figure
5 wedisplay
theX-dependence
of outer and innerradii,
forsome resonances of
prime
order n = 11. The behaviour isstep-like,
withan overall linear
growth.
For a =0,
we have~(~C) ~ r~X ~ ~ X,
whichexplains
thelarge
size andregular boundary
of resonances of thistype.
An
example
isgiven by
the resonancesappearing
inFigure 1,
for whicha =
0,
from formula(14).
When the shift is non-zero, wetypically
haver(X) R(X),
and the inner radius’sgrowth
rate isstrongly dependent
on the resonance
parameters.
One findsr(X)
= 0 for XQ(~,r),
andmoreover the
growth
rate of r decreases withincreasing
criticalamplitude.
Thus the
larger
the criticalamplitude,
thedeeper
an orbit canpenetrate
inside a resonant domain.4. A
QUASI-PERIODIC
PERTURBATIONIn this section we consider the case in which the
perturbation
Ea isquasi-periodic,
incorrespondence
to thegolden
meanparameter
value A =(1
+~/5)/2.
We
begin by addressing
theproblem
ofperiodicity.
For each N >1,
let T =T(N)
be theperiod
of thelongest periodic
orbit of 03A6 on the N x N lattice. As arule,
functions of thistype
feature verylarge
fluctuationsthéorique
[9, 3, 17],
and ours is noexception.
Alogarithmic plot
ofT(N)
isdisplayed
inFigure (6) (top).
The lower
envelope
is linear. The upperenvelope
isquadratic,
withcoefficient very close to
unity (0.92...) indicating
that the orbits with maximalperiod
invade alarge portion
of thephase
space. To suppressfluctuations,
we consider the average order(T)
ofT, given by
which is
represented by
a thick solid curve. InFigure (6) (bottom)
weplot
its normalized value.Comparison
between domain and range showsthat, asymptotically, (T)
is dominatedby
aquadratic
term,although
thepersisting
fluctuations are(at best)
awarning
of slow convergence.Next we consider the time-evolution of the action
in the limit of
large
N. The mainquestion
concerns the existence of adiffusion
coefficient,
thatis,
thelong-time
limit of the normalized variancewhere the average is
computed
over allpoints
of asufficiently long
orbit.The results of
Figure
7 werecomputed using
three distinctorbits,
each ofperiod greater
than105,
and eachoccupying
at least 30% of thephase
space.In
spite
of thelarge
size of theaveraging sample,
thedependence
of D onthe choice of the orbit remains considerable. These data are consistent with the existence of a diffusion
coefficient,
but thelarge
fluctuationsprevent
us from
making
any firmspeculation.
It is worthnoting
that the relaxation times ofD(t)
are here muchlonger
that those observed for round-off diffusion in a linearplanar
rotations[17].
We
finally
address theproblem
ofdetermining
thegrowth
rate of thecomplexity Ck
of thesequence t
~ ascomputed along
orbits ofsufficiently long period.
For
comparison,
let us first consider thecomplexity Ck
for thedoubling
map on the
circle,
with the usualbinary symbolic dynamics.
The orbits ofmaximal
period
T = N - 1 occur on certainprime
lattices N(determined by
the condition that 2 be aprimitive
root moduloN).
These orbitsenjoy
aVol. 68, n° 4-1998.
520 X.-S. ZHANG AND F. VIVALDI
Annales de l’Institut Henri Poincaré -
complete uniformity
inphase
space, andsupport
allsubsequences
oflength k,
for all k notexceeding Llog2(T
+1)J.
We define the ’breaktime’k*(T)
of a
binary
sequence ofperiod
T to be thelargest positive integer k
forwhich
Ck
=2k.
We haveindependently
from the initial condition(provided
the latter isnon-zero).
For k*
k T,
thecomplexity Ck
grows slower thanexponentially,
tosaturate to the value
Ck
= T for k > T.Returning
to ourmapping,
the function C wascomputed using
thelongest
orbit on each lattice. For small values of
k,
thecomplexity typically
growsexponentially, Ck
=2~,
with allsubsequences
oflength k appearing, roughly
withequal frequency.
After a breaktime k* =&*(T(7V)),
theexponential regime
is followedby
apolynomial
one, whicheventually
saturates due to
periodicity.
The scattered data in
Figure
8represent
the breaktimecomputed
fora
large
number of orbits ofincreasing period.
Forcomparison,
we alsoplot
the average breaktime for thedoubling
map(solid line).
The brokenline is an average taken over several orbits of
approximately
the sameperiod.
Inspite
oflarge fluctuations,
this resultssuggests
that the breaktimeVol. 68, n° 4-1998.
522 X.-S. ZHANG AND F. VIVALDI
grows slower than
logarithmically,
consistent with apicture
of short timenoise
superimposed
tolong-time
correlations. Thequestion
of whether k*saturates to a limit value remains open.
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(Manuscript received December 19, 1997;
Revised version received February 6, 1998.)
Vol. 68, n° 4-1998.