Mathematics Volume 28 Lectures on Chaotic Dynamical Systems Valentin Afraimovich and Sze-Bi Hsu American Mathematical Society International Press Ir 318M,Shing-Tung Yau, General Editor 2000 Mathematics Subject Classification. Primary 37-XX. wary of Congress Cataloging-in-Publication Data aimovich, V. S. (Valentin Senderovich) Lectures on chaotic dynamical systems / Valentin Afraimovich and Sze-Bi Hsu. —~ (AMS/IP studies in advanced mathematics, ISSN 1089-3288 ; v. 28) Insludes bibliographical references and index. ISBN 0-8218-3168-2 (alk. paper) 1. Differentiable dynamical systems. 2. Chaotic behavior in systems. I. Hsu, Sze-Bi, 1948- Title. TIL Series. \614.8-A385 2002 V74—de21 2002074423 Copying and reprinting. Individual readers of this publication, and nonprofit libraries ting for them, are permitted to make fair use of the material, such as to copy a chapter for use teaching or research. Permission is granted to quote brief passages from this publication in views, provided the customary acknowledgment of the source is given. Republication, systematic copying, or multiple reproduction of any material in this publication permitted only under license from the American Mathematical Society. Requests for such exmission should be addressed to the Acquisitions Department, American Mathematical Society, JL Charles Street, Providence, Rhode Island 02904-2294, USA. Requests can also be made by mail to reprint-permission@ams . org. © 2003 by the American Mathematical Society and International Press. All rights reserved. ‘The American Mathematical Society and International Press retain all rights except those granted to the United States Government. Printed in the United States of America. © The paper used in this book is acid-free and falls within the guidelines established to ensure permanence and durability. Visit the AMS home page at http: //www.ams.org/ Visit the International Press home page at URL: http: //www-intlpress..con/ 10987654321 08.07 06 05 0403Contents 1 Basic Concepts 1 1.1 The World of the Observables...-....--.----4% 1 1.2 Dynamical Systems... .... 2 3 13 Dynamical Chaos. Some Definitions - 6 1.4 Systems with Dissipation 9 1.5 Strange Attractors: First Encounter ..... 26 1.6 Characteristics of Complexity of Attractors Hay, 1.7 Mafie Theorem and Takens Definition AL 2 Zero-Dimensional Dynamics 51 24 Symbolic Dynamics... 2... 200.2 ee 51 2.2 Applications of the Bernoulli Scheme . . . - - ee 5S 2.3 “Two-sided” Bernoulli Shift . . . ae 62 2.4 Topological Markov Chains . . . eee TL 2.5 Topological Pressure , Hausdorff And Box Dimension... . 81 3 One-Dimensional Dynamics 95 3.1 Lorenz-type Maps . 95 3.2 Continuous and Smooth Maps of the Interval wee 3.3 Ergodic Properties and Invariant Measures 2 134 4 Two-Dimensional Dynamics 153 44 Hénon-type Maps... 2.0.2.2 eee 153 4.2 The Notion of Hyperbolicity . . se. 187 43 Sufficient Conditions for Hyperbolicity - 2. 161 4.4 Poincaré-Birkhoff Problem . 7 +e 169 4.5 Homoclinic Bifureations. . . . . wee 195 46 Strange Attractors of Some Maps of the Plane --+- 210 5 Systems with 1.5 ‘Degrees of Freedom 217 5.1 Small Periodic Perturbation of Morse-Smale Systems . . . . 217 5.2 Bifurcations Of Codimension One aaa to Periodic Per- turbations ..... . wee 5.3 The Meliiikov Function eee w d 5.4 Routes to Chaos. Period-Doubling Cascade acaeie etter 2 5.5 Critical Saddle-Node Bifurcations and Destruction of Tori .*"