The General Topology of Dynamical Systems Ethan Akin Complete Edition
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Graduate Studies
in Mathematics
Volume I
> :
i. _ ; . American Mathematical Society
. .,..·
EDITORIAL BOARD
Ronald R. Coifman
William Fulton
Lance W. Small
ABSTRACT. Recent work in smooth dynamical systems theory has highlighted certain topics from
topological dynamics. This book organizes these ideas to provide the topological foundations for
dynamical systems theory in general. The central theme is the importance of chain recurrence.
The theory of attractors and different notions of recurrence and transitivity arise naturally as
do various Lyapunov function constructions. The results are applied to the study of invariant
measures and topological hyperbolicity.
Copying and reprinting. Individual readers of this publication, and nonprofit libraries acting
for them, are permitted to make fair use of the material, such as to copy an article for use
in teaching or research. Permission is granted to quote brief passages from this publication in
reviews, provided the customary acknowledgment of the source is given.
Republication, systematic copying, or multiple reproduction of any material in this publi-
cation (including abstracts) is permitted only under license from the American Mathematical
Society. Requests for such permission should be addressed to the Manager of Editorial Services,
American Mathematical Society, P.O. Box 6248, Providence, Rhode Island 02940-6248.
The owner consents to copying beyond that permitted by Sections 107 or 108 of the U.S.
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promotional purposes, for creating new collective works, or for resale.
Preface ix
0. Introduction: Gradient Systems
1. Closed Relations and Their Dynamic Extensions 5
2. Invariant Sets and Lyapunov Functions 25
3. Attractors and Basic Sets 41
VII
Preface
A large branch of modern dynamical systems theory has grown out of the
work of Smale and his colleagues. The germinal technical concept, hyperbol-
icity, extended from a fixed point to more general invariant sets, consists of
conditions imposed upon the tangent maps of the system. However, devel-
opment of the subject revealed the fruitfulness of a number of purely topo-
logical concepts such as attractor, basic set, filtration, and chain recurrence.
While some of these ideas were new, many were familiar objects of study in
topological dynamics. The latter was a well established subject, flourishing,
and somewhat separated from the differentiable theory. However, perusal of
surveys like Bhatia and Szego ( 1970) and Nemytskii and Stepanov ( 1960)
reveals that topological dynamics drew much of its motivation, as well as
many of its examples, from the still older qualitative theory of differential
equations originating with Poincare and exemplified in Andronov, Vitt, and
Khaikin's great book ( 1937).
The recent global results associated with hyperbolicity have provided a new
perspective on topological dynamics. For me this new view began with a look
at Shub and Smale's 1972 paper, Beyond hyperbolicity. This book is the result
of an often interrupted contemplation of the best way to organize the parts
of topological dynamics which are most useful for the nonspecialist. John
Kelley wrote in the preface to his justly famous book, General topology, that
he was, with difficulty, prevented by his friends from using the title "What
every young analyst should know". The reader will note that I have adapted
his title. This is partly gratitude (and an attempt at sympathetic magic),
but mostly because my intent is inspired by his. I hope to have described
what every dynamicist should know, or at least be acquainted with, from
topological dynamics.
While the book is thus intended as a service text and reference, its sub-
ject eventually organized itself into a unified story whose central theme is
the role of chain recurrence in the study of dynamical systems on compact
metric spaces. The assumption of metrizability is, for most of the results,
just a convenience, but compactness is essential. We repeatedly use the
ix
X PREFACE
\ s
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FIGURE O.lA
FIGURE O.lB
single-valued function. In this example the periodic orbit and the central
equilibrium are the recurrent points. The periodic orbit is attracting with
domain of attraction the punctured plane, while the center is a repellor, i.e.,
an attracting equilibrium if time is run backward, with domain the interior
of the unit circle.
Periodicity is the simplest example of nonequilibrium recurrence. Further-
more, the limit cycle example of Figure 0.2 is important because it is, to use
an important but vague term, robust. A property of a dynamical system is
robust if it is preserved under small perturbations, that is, if the property still
holds for dynamical systems sufficiently close to the original. In any appli-
cation the vagueness is eliminated by specifying the meaning of "sufficiently
close", i.e., topologizing the dynamical systems, and by describing precisely
in what way the property "still holds". For the example in Figure 0.2, given
e > 0 there exists o > 0 such that if a vector field o small in the C 1 sense
(small at every point and with continuous small derivatives at every point)
is added to the original, then the new vector field has a unique limit cycle e
close to the original one.
The dynamical systems which we will analyze come in two closely related
varieties: continuous vs. discrete time models, or, differential vs. difference
equations, or again, flows vs. maps. Given a smooth vectorfield on a compact
manifold X we can integrate it to obtain the corresponding flow rp: X x ~ ---+
X where rp(x, t) for fixed x is the solution path with initial condition x.
In general, a continuous map rp: X x [0, oo) ---+ X is called a semiflow if
f 0 (x) = x and f 1 o fs = f 1+s, where / 1 : X---+ X is the map defined by
f 1(x) = rp(x, t). If the maps f 1 are homeomorphisms, then we can define
f- 1 = (/ 1)- 1 and extend rp to the associated flow, mapping X x ~ to X.
The particular map f 1 is called the time-one map of the semiflow.
manifold and rp: X x [0, oo) ---.. X is a C' semiflow, prove that f 1 is a
C' diffeomorphism and the associated flow is C' if the tangent map Txf 1
is a linear isomorphism at each point x of X. (Use the Implicit Function
Theorem and the fact that f 1 is homotopic to the identity). D
A discrete time dynamical system is defined by a continuous map f: X ---..
X and letting xt+ 1 = f(x 1) for t = 0, 1 , 2, .... The discrete time analogue
of the semiflow is defined by fn(x) where fn is the n-fold composition of
f (n = 0, 1, ... , where / 0 is defined to be the identity). Again, if f is
invertible, we can define f-n = (f- 1 )n and get the discrete time analogue
of the flow.
This emphasis on flows ignores the original vector field. In practical appli-
cations, the vector field provides some extra leverage so that the continuous
time model of a phenomenon is usually easier to use than the discrete time
version. But the theoretical apparatus which we develop here is best con-
structed for the dynamics of a map. We then translate the results back to
vector fields by using the time-one map of the flow. On the other hand, a
homeomorphism can always be embedded in a flow via the following "sus-
pension construction".
2. EXERCISE. Let f: X ---.. X be a homeomorphism of a compact metric
space. Construct the compact metric space Y from X x [0, 1] by identifying
the pairs of points {(x, 1), (f(x), 0)} for all x in X. Define a flow on Y
so that the time-one map is the quotient of the function (x, t)---.. (f(x), t). If
f is a C', orientation preserving diffeomorphism of a C,. compact manifold
X , prove that Y is naturally a C' orientable manifold and that the associated
flow is C'. D
N.B. Unless otherwise mentioned, all spaces throughout the book are as-
sumed to be compact metric spaces.
Chapter 1. Closed Relations and Their Dynamic Extensions
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