AFIRST COURSE IN CHAGTIC DYNAMICAL SYSTEMS THEORY AND EXPERIVENTMathai and Pipe Ear Berar Hl Prostion Marnge, Pom Story Prtusion Assan: fer Matomole (Cover Deine Honey Br ‘Library of Congress Cataloging i-Publication Data Devaey, Rode L161 ‘Aft coun eno deal eee: thay” snd sperma / abet L. Bessy pram (Susi one) Telus tibial erence an inex, 1 Dittrentble dynamiea rstoms 2. Conte bbair i sve Tt Sa Addo Wey sts nonce, asta ber ioe Ban os0t see? sisvasztzo gratia Copright © 1902 by Perseus Bsks Publishing, LLC “The Advaneed Bonk Progam Allright reserve No pc of his publestion maybe reproduce, stor Ing eetseval mater, or transmit nay frm ob Bny mee ‘tony mechania, phateopyeng, ering thr, without th peor ‘writen permission tho plhor Printed in he Une ise, Preface ‘his book isan uodergredante text in dyna systems. Iti eed at students who have taken at lat ope Yur of ele, bt not neces ly any higher ltl thematcecourees ‘The bork ix an outgowth of & one semester course taught bythe author at Boston Universi forthe past, ‘evel yeas Stodents inthe course raged fem beioningmeleraties nals to senior lee ence and engineering students, from Ens ma [ors who take tatbematir courts “becouee they ace fa to prospective Secondary school mathematic teachers, With the posliy of coding ‘ouput expernentaton,inboratry seri, group projets ogee with foe wonderfully aces mathematics coure in yan stems ca fas be toed to sucha divest aiene Tel that ii desirable to truce student to this ld a an enly| singe in thee mathematical eagers ‘These ave a umber of teams for this Fest, the stay of dynamin offers eathematcians an opportanty ‘xpowe students to contemporary ideas in mathematical sear, Many of the des and theorems in thin book weve Sst diveovered within the aden ‘ities; many ofthe prtuesfacladed herein were fiw viewed hi the ast decade "To emphasize the comtemporary nitute of the Bey 1 have Inchod snapshots and brie biographies ofa nuber of Sadvidsale who Inve me weet conerbutioos ta the des inthis Book. ‘Much of the earent interes ia dyeaice centers scound the chaotic behavior that occurs when simple function f erste In this book the trphasis ison the simplest poeble sting in hi tie ocrrs mely Iteration of real or complex qundetie polyoomialy By desing xin with this special case, the eterilbesomes ace ta students hod fot have ‘bnrtproundin topology or anna Fr examp, with nly the Kaowledge flow to multiply complex numbers, students can compe the tase ‘athena! iene bend such topics the Dla see othe MandelbrotA second pedagosical reason to iteoduce dynamics erly inthe curse um is thatthe course may serve naa bridge between te low-le,otcy Bonrgorous cleus course andthe much tore demanding eal slgee ours. All oo often, stents see no connection betwen the clear ures that occupy their early years as an wadergraduste and the mmce ‘vanced analy courses they tne later, Dynamics fers tadeats sop Doctunity toute and buld upon thee knowledge of eal ann the rare Hime, to ase fn very concrete setting many of the important tapes fom ‘usc analsis. Ihave found thst students Beis lo appedat the sol oe sac seri spaces when they Best encounter an shjet ke the space af sequences in symbtic dynamics. They tele the importance of ue enition of continuity when they try to analyse the shift map, Centar ets become natural objets to tidy when students et bow often ey aise ie dynamics. Indeed, students who have studied tans prior to dyson often remark hat they now know why ll hat abeteacton i iaporant! ‘To accommodate begining stodets, this book x structured so tht st ‘denis are gradelly introduced to mare and imore sphtcted Iden oo ‘alse no the chapters unfold Te stats with oly afew elementary notions ‘hat caa beespained using graphical methods or diferent caleuln, Proofs se introduced slowly at fst, and pletyof routine exercises ate cluded ner come concepts suchas dense sets and mere spaces These eons tie antral in the sting of simple dynastic syst, 9 hey tan be intced in manne that both tnerete nd nce Tf hat tis ppronchis bene cl to thse sents wi da not contemplate tute pad une typ tlrnates thy awsome a the peace des of sats lost ot in th wetting of an intensive conse designed for peespective PLD One of the unique asprets of a dyonnics couse isthe pasty of inching na expecinental carsposent. My students make mekly Wipe "he computer lab to preform sumercal spernents tle the Teper over in eas Thowr experiments sage frm dstrations of the fate ‘af convergence tn atrncting vm sete ed pnts fo nection of eigenbnun's rleted denser of the waver of the pesto ding route to chane. Stidens ae aed to pesorn etal malls afte Dlocesen of te winlows ia the exit dlgeam ae well as an neta Of the messing the deeations othe Manlio et. They go tothe a to gar data they forte hypthescs wl eniectues they weep thee findings na lensthy tn teport. Given the ieeile Beaty of ro the images the stdout acetate ax wl ns the ope eed nate ni tinny of pasrice vit tbe investigation, ths portion ofthe cous is nays ge fe! Moro, the pouiblity of omblong grou metienesie wih oxperimeta es 2" fda inthe book are x numberof ston marked “Experinent ‘hex me he laboratory angnent tht my stents comolte ose ferns co hoare. May of hae lab regu wo weeks fo cote so ‘tere ace snany snore expect aldo te txt thn ee pai fo conpicin a aoesenestr cure In addion, any ofthe lator abe (pe {Gall inthe she the Matra ) domme eof sone ‘amputee nding» neers poe) Por ths renon it ny be beneficial or trates to peor sme of the Ibe ar cleroom destin, nling stents to rene verbally to ‘tl they secre snd todas wl eon tbe son 1 ay ae Teper inthe chstom to motte dynamical des ato sree iin” be hanno nn. Of the computer does not wns ge the erect answer, To make students ‘Sessa of thi fact an to make site tnt they temsin mupous Sg {Ecorse the ft exerineat tho tents ptr ne nied becom puts ay le” These exprinet hoa the rt peomed talent Thana, by the suet Software and Solutions Manual ‘As ptt of my course, I make extensive we of soften for Manor coputers developed speiely fr the sure wih the tetas of Jae ‘Senge od Del Sohne Tis sotrneeled Piet Gore ta Gari ‘Dynal Stee Softail om Adio, Wess ta pce ‘ithe experts ad the prblems in th bok, The etwar ans on ry Macinshcompuer with 2 Mb RAM, runing Sytem 608 igh wLincsding Color Quick Drow. Steere sven aaa Adon ‘Wen at 60047-226) “Thefts eben an iva seth born eso stalin fs Haver srl cae usin eer The else ts goede areeac oo Hath tepals reed by the peo We Stperimcts ond projects the tens Second ony of hens ‘limend a eign mount of computational power ot eben graphic ‘other found one Maite of eomputers Ru ines on Computers witha nuenaten copornors ye ty ong "Sn teeter hades ns Br diol ht rio eo pause expsene on he pasta the etary. Ur awevii yvamicacsrsreus ted vous labs nto separate programs that progress ia eed of dilyy fos, User are at confronted by n at eeay often esc ops "ast do everything but wash the ciety dises inthe sink. Rather, enc ab har aspeibe purpose, and the eat of ase allows students to eoncentrae on ‘he mathestie daring each ln, rather than the meckanice of making the tsfiware work, This nea (at ie students haven sigant albenat al expesene ia the Ib rather than a fateting Bout with over poeta teftware, 1 privately published solutions manual compiled by Thomas R Sar x leo asia for 812.50 ($15.0 outside US and Canada) by writing to the Suthor, Robert L. Devaney, atthe Mathematics Department, Doston Uni ‘esi, 11 Cummington Suet, Boston, MA 02215. The manual coins etd sshtons to approximately TO% of the execs in the text (20 Including experiments). Acknowledgments 1 ie plesoue to asknowladge the jvalblaasstnco of Ed Pokal, Druce Peetham, Mark Saavely, Micile Talo, aad Beajain Wells, cl of ‘whom rend and made mang Becomes about the ranuseit. Cam pee sly indebted to "Tom Seavo for many exellent syggrtionsconceing both the mamiaeipt and the ofa anya the clo plate ati ook sree prodced nt Becton Univnity wing progenm sites ty Pas lan hard, Scott Sutherland, and Gert Voger_ Sete Sutherland lp axsted Irth seang of the ober Bors in Une book. ‘Thank are alsa coe Sen Pangracie, Cheis Mabry, leis Soll, Sherry Smith, sed Craig Upon fori wi the eounper grapes mgr i Georges nl Dat Totaon role many lang hones puting the ata forte coun ato 8 Yer? ‘hie and enjyabie format; thir excelent design fr the me tect has Tande Inboratory masgnnent quite eninge nl ei fo my tnt, two! Devany wei the anthem accusney of the efits tna eros tat remit ee ti. Fan Tsun tna id Vin eno, Gaetan, Walling, Cineoin, Clonekinn, Richard, Cope, ae Tic for proving newt may lamer enipynent we hi ook wos taking anne Robert 1, Denney ary 1998 Contents CChapes 1, A Mathematical and Mistrial Tour 1 Teoges fom Dyoaatel Systems 12 A Bee Hstory of Dynamice Chapter 2, Examples of Dynamical Systems 21 An Example fom Finance 22 An Example fom Ezolony 25 Finding Roots and Saving Byatons 24 Diferetil Egutions chapter 8. Orbits 2. eration 22 Ochte 33 Types of Obi 34 Other Orkite 535 The Dosbling Fonction 236 Experiment The Compulis May Lie (Chapter. Grephiea! Anlyie 41 Graphical Analy 482 Orbit Reals (Chapter 5. Fined and Peco Points 8.14 Fed Point Trorem 52 Attraction and Repusion 5.3 Callus of Fixed Pointe 54 Why Le This Tr? 55 Periodic Pointe 5. Experiment: Rac of Courergencex pywaMcar sistens Chapter 6. Bifurestone 6.1 Dyznmics of the Quadratic Map 62 The Saddle Node Bifurstion 63 The Period Doubling Bifutenton (64 Experiment: The Terni fo Chaos Chapter 1. The Quadcatie Family 11 The Cae e= 2 12 The Cue e< 2 18 The Cantor Mile Thirds Sel [Chuptee 8. Transition to Chaos 151 The Orht Ding 82 The Period Doubling Haute to Chaos 83 Experiment; Windows inthe Orbit Diagram Chapter 0, Symbolic Dynamics 92 The Sequence Space 93 The Shit Map 24 Conjugacy (Chapter 10. Chaoe WLI Thee Peoperiae of « Canc Syston 102 Other Chante Systems 103 Masiextations of Chew 14 Exprimente Fegelmun's Coast Chapter 1. Sorhoskis Theorem 111 Perot 3 hapties Chae 112 Sarva: Tore 11.3 Te Peiad 3 Wine 114 Sway of Finite Type Chapter 12, The eu the Cia Obit. 124 The Sewatian Deviate 122 The Cee Point na Basa of Attoction (Chapter 1. Newt’ Met 1G Base Properties 18.2 Coury mad Nancanvergene Chapter 14. Fractal 141 The Chae Goine 82 3 a 7% ee et ” 1a 16 13 103 7 ira 1G 184 164 1a 176 corners 142 The Cantor Set Revisited 14.3 The Sirpns Tingle 144 The Koch Soowake 145 Topological Dimeaton 144 Fractal Denson, 147 Kerated Fanetion Stones 148 Bepesiment: erated Function Systems Chapter 15. Comples Punetions 15.1 Compes Arithmetic 152 Complex Squae Roots 153 Linear Complex Funetione 184 Galeuls of Complex Functions (Chapter 16. The Juin Set 16.1 The Sqoning Pasetion 102 The Chaotic Quadratic Function 163 Castor Seta Again 16.4 Computing the Filed ula Set 163 Experiment: Filled Julia Ste and Gxial Orit 166 The Juin Sot na Repeloe (Chapter 17. The Mandeot St 111 The Funlasental Bichon 112 The Malo! Set 17.3 Bsperimont> Peres of Otic Bulb 174 Bsperiment> Peres ofthe Descaions 17 Experiment: Bind the Juin Se 176 Experiment: Spates and Antennae 14 Bxperitnat: Stay ofthe Bland nad Julia Sot (Chapter 15, Facter Proj and Esperinnts 181 The Tie 183 Cabiee 183 Exponential Puntions 184 Thgenetie Funetion 185 Complex Newtons Method Appendis A. Mathematical Preininaies Appeic B. Algoimns Appenix C.Releeaces m8 180 190, 197 203 203 20 200 22 en 2 233 246 246 2st 258 260 Pa 28 24CHAPTER 1 A Mathematical and Historical Tour Rasher than jump inumediatly foto the mathematic of ypc y= ters wl begin with rif tou of some ofthe amasing cmptreraph {Simages that sei thie eld. One of oe goal this book ito explain tra these nage mean, how they are generated onthe computer and wy ‘ey are important in mathemati We wll do ne of the mathematics bese, For nom, you should simply enjoy the image We bop to convince Jour ia the coring chapters thatthe mathematics bend thee tges Erte peti thn the pctares. fp the acon part of the chapter, we wl fesens brief Hrtory of some of the developments ia dynamical stems ve the pt citary. You wl me that euy of the earn yams rose [nly cert Tadeo, sone ofthe computer graphics images rom the tour ad been son before i960 11 Images from Dynamical Systems “This bnk dre with soe wry inteveting exiting and bemtifaltepic| ‘ip matkonotice Lopes whic, in muy ates, have Been discovered onl the hat deone. The sui sc ofthe book i dynemicl systems, the branch of rinthevities tae attempts 9 understand procesce in motion. Such proces out ll branche af eienee, For example, the mation of the rs athe glosior in the heaven ea dynamical eyes, me tha bas ‘ben studied for Cenc by thousands of mnthematicfane nd cenit ‘The stork ake in nner sgntom that changes in time, ne the worl Weather, The cages chenial undergo, te ie and fal of popatone and‘he motion of simple pendulum are cate examplesof dynamical ystems i chemists biology, and physi. Cenly, dynam spsens shou ‘What docs scientist with todo with «dynam apse? Wel since ‘he system is moving or changing in ime, the sentise woul ike te penton here the aptem is beading, where i wll imately bo. Wil the aoe market go up of down? Will it be rainy or unny tomar? Wil these oe ‘herials explode if they are mised inate abe? less somedyamica systems ae predictable, whereas olbere ar not You know thatthe sun wll ie temorrow and that, when you add crea tag ‘up feof, the resling “chemin! eatin wl at bean exponen: Oh the other hand, predicting the weather a month fom now or the Dot Joon veage a weck from now seems imponile You ight sue that the reson {or tis unpredictability i that ther ae simply tau many triable pose ac ‘metcoroogcal or economic systems. That indeed tee inthe soe, hae "is is byno means the complete answer, On ofthe remarhabe acorns of twentithcentury mathematic Is that yry simple pte even roe depending on only one variable, may Behave just av anodic ote stock matiet, jus as willy n turbulent water, nf jatar oer ‘8 hutiaoe. The epi, the reson fortis upredictaebehovion he been called "cod" by matrmaticans Because chaos has been found to occur inthe spl af systems, ac catiss may now begin to study unpre in is mont bce nee to be hoped tht the study of thn simple apse wll evenly aw ‘ints to find the Key to westantng th arent beh of tens involving many variable such ax wrath or teonomic sytem i this book we disuse those sn arttingn, We wl ae that ‘occurs in elnatarynimtsatcl nye -obferte ss fase os netic functions they aoe erga ncaa psec Vo ny flat ths pin that yo kr all herein Eas ant gure functions afer al hey aera tele lta grag Yoon ding Kine nd tnt tea. Dut te hey won ere te "yond opt ‘We wil tea spe rathrnatical aperations lik taking the aguas rst, auasing,o€eubing ne ey syrems by repeating the eroticy eee tod ovr, using th ont af the previous apertion es thei for ‘ext This proves called sertion, This proved generates Us of al or complex numbers that are changing ns we power thi sour dace ical apse. Scmetnis we wil fd tht, when we input cetn noes into the proces, the resin Behavior i completely precable wiles !tumbers ye results that me often binee at toully oped Plates 1,2, and 3 Dousdy’s Rabbit and several magnifeationsPlate 38, Tolin st for Newon sethod y For the types offrtions we wil onside, the tof mum hat yn wlio unpredictable Behavior in he plane is ealed the Je set afer the Freeh mathematician Goston Jul who St frmlated many ofthe ‘properties of theve ats in the 2920's. "These Julia sete are specacelarly Ereised, even for quadratic functions, Thay ave examen of tale ‘Thne ace sts which when magaised over aad ver agin, vaya cesenble {he orginal sage. The dow you look a x fractal, the mare you see exe he cue object” Moreover, ctls naturally have Smmenson that 0 ‘Sotoge 2011; no! 2, but often semsebere in betwee, surh ne dinecton aio: whatever that mene! We will dice these concepts in more dll fe Chapter 1s ere sre some examples of the types of mages that we wil study In Plate 2 westhow the Jl st ofthe simple mathematical exprasion =e, wher both = and are complex umber Ta this particular ease e =~ 122 5 ‘Thin image scald Dovdy’ rit, er the French mathematician Adseo ‘Doundy whose work we wil daca in Chapter 17. The lack rein in hi fin Is Plater? nnd 3 we bave magnified portions of the abt evelng {hore and more pa of cars ‘As we will dsebe lle, the Black points you see in tor petra the norshuoti points: They are pints representing values f= tha, sade inet f ths quate faction, event} ten to eyelebatwees thr (ferent points inthe plane As a conrequene, the dynamin! bahar i (pte preictaie All of this by no meane appven right om, but b the time you have rnd Chapter 18, you wil consider thie example» goo fend. Ponts that aecalored inthis picture ale behave preity: They Eehaior fo this dyna pt, of he form = be Each ete ratesponds to 8 diferent tle of. Fo fxample,Plte isa pictre ofthe Juin set for «7-1, Av we so, the Tula set may asuna treme vrcyof shapes, Somatic the ings ontai Inrge back regions asin the ease of Douny’s eat. Other ins ‘he Flin et looks enn late sealirof pina, asin Plow 7-10. May ofthe Jin sete aro Cantor ats These ate very compat ate that {sieofien inthe sud of dytanir, We wll Begin out eta nf Cantor arin Chapter 7 when we introduc the most bac facta of ll. the Cantor sale thids et All hese Ji ets corespond to mathematical expressions that ae of the form #4. As we se, when eves, these Juliet change cosiderebly in shape. How do we understand the totality of ll of these shape, the collection of ll posible Talia sets for quadratic fnctons? ‘The anower is called the Mandelbrot se. The Mandelbrot st ax we wl set Chapter 1, = dieonary, or piture Book, of al possible quadratic lia sete Tet stein the eplae that provid wth and map of the quate Dulin Ses. This image, fist viewed in 1080 by Benoit Mandeve and oles Se tulle important in dyoamien Te completely charectesiees the Dulin of ‘quadratic functions, Ibe Boen called oneef the most nseate and esata jet in mathematic Plate 11 shows the full Mandelbrot st. Note that it consis of base ‘eotral carded shape, wit smaller ball or decoration taco. Pltes 13,15, an 17 are magoiSestion of some ofthese decorations Note how ‘ac desoration dies from the olbers Buried dep in ratons regions of the Masdelrot set, we alo Find what appear to esl copies fhe enter et, as shown in Plates 12, 18,16, ane 1, The et posses at ras out of complexity as iustated by Plates 19-22. Notices, enc of eve small regs he a diet ciel sning se wil tan Chapter 17 I Pate 23 wo ave main all ae tae the Pants the est ofthe Mtr et shown Plate 4, Nota tee jet ‘in wee this tena sent Ura Pte 28 we fee etn of the nln st fr the ere earning this junction poe ‘ote he eemarablo rity of tre: te ng Thi te it. As we wll ei seo the raat a Chaplets ‘etm amazing rb eters rin tv ie Mai us coernpeing Flin 1 wil abs ientigat the tic nave nyo fuvctons. For example Plates 2525 have apg Hr tli st of (01+ .t}sine wel sere mmgaicatins, Mitts 28 an 29 si othor ‘xamples of Jin etx fr futinsef theforn rs It we notin xponeotial functions, we Rol Jolin sets tat fo uite eifre an Toe ‘sample, ths in Py 0-33. Pat 85 set the Jatin ts or sea in fonctions ia Pats 368 ot eld tems rey iferent geometric lit mscingin hr sly. nati, Fol Pte 39, we ne ind nin et fa Newtons nthe This eave CHAPTER! A MATHEMATICAL AND AISTORICAL TOUR ces anil fom elementary cl, sepsis lends to considerable ‘hot behavior, a we wl ven Chapter 13. ‘The images inthis mathematica toe show gut cesy the rot beast of mathematic! dynaial stems theory. But what dott plete mena fad why ace ther important? These ace quetons chat we wil answer in the Feraindero this bok 1.2 A Brief History of Dynamics Dynan sptems has long and ditingisd istry a » branch of iuashemate, Beginning wth the fndamenel work of lane Newton fer ‘til equntons bene the princi! matter technigie fr decibing, roc tha elects tin. the ghee se sien Sitaey satiate Jedool momerusecaign or ving Sifre Gl pation ely. The tho cade Laplace wanton, power ‘Sis tlatlns ito of pruners, ear algerie oth, dy ‘ines tectiqes fae Ue ace tedden owe edonsy Siena eqtone “There was one malo a i tht develosnt. Viel lof thea stp cigs for svig Aft easton worked only fx nen ‘ikea ation Noten diferent nine prove ch sone ica to solve Unfortunatly, many ofthe mos portant process in Sat te lecaty nol ‘och rove by Neon il atin do veloping ens dite equations" Nevin’ laws enable to {Tie dow irene tnt drt the ation fhe pant he slat "aten, nonag any lke apr physi phenoment. Know asthe pny ponte Ines wea cael oun whe slain Chseter the ttn of "pio ae” moving apace sr en to {ie mn nt gotten nnn Te ko he til pions ‘wlio hee mn trl we bat od se Newt dle Siti eqatinn tbe ae pt whexe aw hve crn wil mon inthe ature. hi hot ba ie a ly nat then ere tis ny be eed ep ten doen a Festa or sophowmre rales oe pgs tas. Fr hee one shes, the pon today enn comp tl sve eit there fet ee athenatin digo hee cena Tes tr at amesolutions of diferent equations by computers have allowed to appro tant the behavir ofthe atual sltions in aay eae, bt thee be el regimes in the n-body problem where the sultioos are so completed oe ‘hace that they defy even rote! computation Although th ect wlton of ota evtnary eet ao ons hs prove ca thee hve ren the nh ene ee eshte motte ceed. Rng Ose halen tonunced spe fr heft mataenn who eo eve he bly Freeman techy ove the sabi of thes em, Necdetoee food str he aloe te ge teh ata cr Pinenrt cae done act efron pope Fe totaly reramped the way we take nonin oednay fleet cqutons Intend of sign ston tse eutons Pesca xe vtng gine opel ed rae ctr So seco th goal sro hon Toki eka of Se bis othe so detain es much ae tape thas thet pele sya en sins, Points pe wieing pape cote nor ew insight io the behalf eta eqns fade ce ars Steals ad prey deta aunt wh pone towable walemaliaeapensch ep Panene geet tit he wt pes pot He cemulyenleb e ‘ehwos. Years later, ufter many atteynpts to wndersti ‘ " tl teu cane bisa i eet an wad tne mold evr rs the exit he ws ing "Tae “ee tev. smal ell date es 1 ots tthe wt jute in mates wont well hen he Fl of amin! sptens Hie adonray af tpl at genase tol ‘prc up whole ew sjcts tn wltrnatien. fet bung he leas. tate: tral Hiri avention y fn tsrne sd owned thse ela Hels inthe rine evade Aso ioe sue algerie i ‘untae wil tpg wer bore ad hited caaeTeR | A MaTueMATICAL AND MISTORICAL TOUR 7 the eweatieth century. But nobody ould handle the chat bese that Poincrd had oberved, so the study of dramisIngihed. "There were to notable exceptions to thi. One was the ork of the ‘reach mathemaiins Pierce Patou and Garton Juin the 1020s oo the Ayoamior of complet nalytic maps ‘They too saw chaotic behavior, tit {ine om what we oow cal the Jue at. Inded, they raed how tremen ‘ova intiav tase Jl ses could be, bt they ha Bo computer graphics ‘ale toe bee nian ne nconenuence thie work also stoped ip the 1950 ‘Ae the same tine, the Amerin mathematician C.D. Bie adopted Poincar qualitative point of ew om dynamin He avocatd the study of Iterative proce asa simpler may of wnderstandig the dypamial Besavor of eifarental uations a viempoie that we wil adopts this book. “The second major development in dyamical systems orcrzed in the 1960's The Ameren athena Stepin Smale reconsidered Poineae's eosing tables unstlemnilsfm the oie of view of erton an ‘Showed by an example tat the cote behavior that bad his predecessors ‘ould indeod be undersiond and asl compltly, The technique he weed te aalye thins ealed abate dynamica and wil be amas to for usin {is book, At tesa ina, Areten mtesogiet EN Loe ning wey eve computer daceweced that very spe dierent equations onl enki the peo cane ine Bpineed obese. Loren, who nts teat been a Ph stent nf Dich went on to observe that hie simple ‘etevcloiel ne exited what now called seni dependence on ial tomdiions For hi this mea hat log range weather forearting trot ttnpowbe nd showed thatthe athematial ope of cos was Tanortat nee area fei "Thi tom tremens Bary of ati fa noone yin i the 190% Ty evlogst Rotert May found hat wey ple erie pocenee {at viet uationatea biology esl produce etch empl and wor ‘The ppt Miteell Feige line on Stale’: ‘tre wr tout that este the comply of ini hehacon, there treet sabce of der in the way apse ernie cio Phys Tote Herey Swine nnd Tey Gul sbowed tot hse sara de Selopments eld avtually be tne a pais! npn, abl {ntti fw Me geet thre apts, ck atthe motion of the pct Pho the bent of Hh an hea, hae ee stone Uo ex Iii sina cote patterns fn nthe aan, nw rekigoee tree develop to ey tested can, Join Cuca ned Rebert8 pmuacar sysreNs F, Wiliams employed the theory of strange atractor to explain the phe- omenon tht Loren bad observed a decade elie, And tole mich the Scharsian derivative, symbolic dyaamiey, and bifrcetion tency al op ics we wil discus in this book were shown to play iportea le Understanding the bahator of dynamical stems, ‘The third end most recent major development in dynamical ystems was the srilabilty of high-speed computing and particularly, computes prope Jes, Foremost among the computer generated snlis was Mandelbrot di, covery in 1080 of what snow called the Mendelbe e, Tha beautify immediatly sawed intrest i the old work of Fula end Futon, Using the computer images asa guide, matheralcians such as Aden Daas Joho Hubbard, and Dennis Sullivan greatly advanced te csnel theory Other comptes graphics images suc a the orbit diagram andthe Levee asrnclor generated eossideable interest among matherticaas tad loo further advance, One ofthe most interesting side fcts ofthe elabity of highspeed sompiting a computer graphics hasbeen the development of t eave ‘meatal component in the ady of dic tystema,Wheseas the old ‘unsere to rely sly o thse imagination ai ther intlecs now wath fmaticans have an invaluable additonal seousce to iwetents dynomses {he computer, This too has opeced up whole ew vats for dyna Sorne of which, me wll sample fn thie ook. In a wie of aceon call “Brperiment,” you wil haves chance to retisconer omedf haze sense fact youre coapren2 exampues 9 CHAPTER 2 Examples of Dynamical Systems Cur gin ths ook to dsb the esi otal oie lore yumi esens ory. We nil re ont pe, conta tbe aatenatn ter han he appt fe abe ow tre fr metvatn, weil inhy ee nth copes ie ‘Tal fami ea haan cic 21 An Example from Finance Conse he fing sts. Spas neds 0 nwa rt itera We he gw moe wos Eye eney wil he oon ethene hi elt Foes wo sane tin 30 pont vat ned fo Eepnccun ona er at the ea othe ee iisen a einplat enngef rinerso pania st La doce tnt we he tek tt the th JEG A Oar pblenitdertas Arse gen aber ge We tnt ay our al apt 000 Aer 3 ear ne ad 10 1.1As. In our specie eae, A, the sune operationro that Ay = 61210, Continuing, Avs Lady Apetady Ap Vda ‘Thus we an cecursvely determine the etount Ay once we know the previous years alae ‘The equation Ae = L1As-y is an example of a (et dee) difeence ‘qution Tn such an equation, we wee information frm the piers yeas (cr other fied tie interval) to detcie the current nfrmanon thes ‘te this information to determine next yen’ amount, and vo fcth> [MWe solve this diference equation by the proces af iteration, The i ‘ative proces involved is muliplieton by 11. ‘That is if we define the fSunetion F(2) = 122, then our savings balances we deterinined be opens ely applying this oti A) a= FAL) Flas) nd wo forth, Note that we may alo write Ay = FUF(Aa)) = Fo Flay) Ay = FUPLE(Ay))) = Po Fo Fae) to cent indicate that we compose F wit scene Balas Since F(2) = 1s, we have FUFE@) = (lays FUEL) = Gays, din gone the nth iteration ofthe Function yds Eee) =(13)s, Tse epentadly to obtain the cuarren2 exawrues 11 Soto ad Ay, we merely compute 1.2)" and malts by de, For example, sng alclator or computer, you may easy check that Ay = 823087 (tnd hy = $117 00085. ‘This example ix quite simple: the trations we wil encounter will in general yield euch me completed renal 2.2 An Example from Ecology eco is another difrence equtin which i ereatialy the eae atone saving) account example. Suppose te wish lo prdiet the Behavior of the Dopalatin of certain spcier which grows or decner ax generation ps {at's denote the population lve at generation n by Py. So our question i can we prodit what wil bappen to Py arm ges Inge? Wil Py ted tose ‘that the species becomes enint? Or will Py gran without found so thet ‘we experience n population explosion? ‘hae are many mathematic] modesto predict the bevir of pop: tion. By ar the stplest (and moat nave) the exponential growth mde In this model we asume thatthe population inthe soceeding generation 1s duetly propotona to the population im the current generation. This translater to mathematics a aotherdiflerence equation Park where ris sine constant determined by ecological conitons. Thu, given ‘he inital population Fp, we can recursively determine the population i te succoding peatations: Rar aor =A Bark =PR, ‘As before, we detemie the behavior of the population via tertin,In tis cae the function we erate e F(a) =r $0 Fam Boca BR) =P‘Note thatthe altiate fate ofthe popalaton depends on. fr > 2 hen 27 leo to infinity with n so we have uothecled population growth Tt <1, tends to ato, the specie betomesentinel, Paap fr 2, = Po, 20 there is never any change inthe poplaton, ‘Thus, we ta chive our gol of determining the fate ofthe species for nay Of courte, ‘his simplified model is highly warealsc in tha rele population bee jm a much more complicated fashion. For exxople, popultions ean newer tend to infty. To semecy thie, we wil add scumption lo oor made ‘hat wil take into account the possbility of orcroming Specifcaly we wil discuss what eclogit al the logic modal of pop lation grow, In this model, measure at the ott thn heres sree. ate masimum population tat eas be supported hy the envirnswet Te popolation ev reaches this uber, then we have dss oreteronding = food! supply becomes ertcalyshor.—and the species immediately din out ‘To leep the umbers manageable, let's anume that Py tom eepotvut the {ation ofthis maxinal popaton alive a enetioa mao chat Pa <1 ‘The loge model i then Posn= APA(I~ Py ‘As before ins constant that depends on ecological conditions. For reasons ‘at wll become apparent Inter, we wil always sanume that 0 < 2 ‘Note tha, inthe been ofthe ~ Pe factor, we ne with the previous exponential growth model. IP = O(aoindiviual preset), then Par = ‘vel a8 we would expect. IP, = 1, then Pag 0 00 me he sored ‘Ths, to understand the growth and detne af the population under tis ‘model, we must erate the loti fanction Fy(s)~ As(t~3). Unite the previows examples, tis funtion ie quadratic rather than Keer. We wil fee that this simple change gives Tin fo.a very sch mathematical they Tnded, the behavior of this function under eration ip al far om be ing completely understood. We wil send mort ofthis bok annytng the “ymca behave ofthis and oter slr fanetions 2.3 Finding Roots and Solving Equations How do you find VB exctly? Beliee itor ot the simplest method dates bac to the time ofthe Babylouias and invlvs spe eaton ‘We will make an initial gute vy fr. Weaseune nt oe postive, Now, hance re that za ¥ V5, some wll we this guess to produce a new had ‘eller pues 2p ere isthe procedure. 129 # VB, then we either have 29 < VB or sa > VB. Inthe former ease, we have Viry <6 Vick {or 35 #0. On the other hand, if 0 > VB, then veo “Thus we have either : nclicd . Sc Vice. ‘Thee, i we take th average of 9 and 8/20, ely 3lw+3) he resting value wil ida between xe apd3/29 ands wi hope bea better approximation to V5. So we we ths tale ws or next "quem foe YB. Coetioing, we form the successive averages ne }(or3) paa(e+2) iy th sgn of unter meh [e's ae how this works in practice, Suppone we make the (somewhatsilly) ntl gees zp = 1 for VB. Then we ave r= 2230067... snd we se that, very quel, this sequence tends to the coeret answer, at Vb= 22606 Clea, to fd other auare soot, we need only replee the $i the forma for our inital gues. ‘Thu to “nd” VB, we chaore some ial ‘sus, sy 39 2, ad then compte sy = 2000018. one ‘cone... and we se that this quence quely converges tn VO = ‘relied question that aie i all ache rene ad athetcn 1s, Hw do sou sofve che equation F(z) = 0? Forexan ing the ups foot of 5s the sue as wing the equation «#80, ‘There ne vey for fits for whieh spose to wate de te elation this eton explicitly. Een fr polyomins, solving this eat fut whe eye gener thin 2 end generally inpole wen thr degree fe aonter Yet the prob i extremly neat we sek oe ple et ‘ne etn, fila om cle, i Newton's meth. This met involves the follwing proce. Given a funn F whoa gots me laying to fi we eons a ew Fanetion the Newton tention fate on seen by A) ma) ‘Then we make on ntl gues zp for «root. Newton's method isto iterate the fnction 1, sucemsvely computing and so forth, Often, though by 0 means aways, this sequene of iterates enverge oa rot of F. Note tha, inthe special ase where F(z) =2"~ 8 (whose rete are V6), the Newton iteration is siaply me) ws daca above "We will at tae the tine now to discuss why this happens oc even shee the Newton iteration funtion cons fom Rather, we wil devote of Chapter 13 vo this subject. ‘With the advent of azcsxible highspeed computation, iterative algo sith wich ae Nowoa's method are becoming aa ienpertent and widearend tee of terest in matbetatcs, No longer ate such goritn piety of 24 Differential Bquations Diferential uations ace alto camples of dynamical systems. Unlike ‘erative proceios were time mesrured in dnrete intervals sch a are ‘ov generations, difereatal equations ace expos of continuous dynamin! {stems wherein ine ia continuous variable, Bve since the tine of Newton, ‘hese type of estes have been of paramount porta, Revell, however, dcretedyoamiea pes have lo recived consid cable attention, Tht docs not ena that continous esters tne decline ‘importance Rather, atberatcnsn sry dinette spree with eye toward appsig the tsulis othe mote dif continous case ‘There are ® numberof ways that erative proeever enter the arena of siercatl quation, Fo expe, a in of enti etn Tie aera, sy tes = 0,12, then we are zeny considering 0 iterative proces a described above16 ywamoar sysrens Mot ote, diferent equations ay npone to eave expt, We zt tar othe computer to generate sumer slaton, Te minced ‘oetods und to colve these equation sve fe eralvepocemes such oe the Range Kutte etbed ‘final way in which tration ain the sud ofdieetal equations crs when asa stones be found, Support rho ‘der difereatiloqution nthe dnensons whee depen aie tie: Then the alitins we sek ae cuesin ace preeceseel ty ee (es, though not alway, tha eves tert een sce see ve ad over agin a depicted ia Figure 21, When sos the Sey fltions of the eqeton reac tothe stuly ela trtne panes oo thesurfare Stating with ny poten te surface sy flow th ato Airough se untl W St terete the sure, al Iie pont ot fee retro). The fnetion Fic ot refurn nape te tae 8 suc of rection. Cntcung to flo the eatin ceils ext pt of sternecton is F(F (2), owe ao tht deeming the aca pes ‘intersection renly a pba eating F Terten ofthe fst etre map does tll sal there isto baow shout the solitons ofthe fatal eqaton, bt dos veut of 0. The east euch nis ale the ‘rime period of the obit. Note tat if ze peiadie with prime paid m ‘hen the orbit of yi just a epeting sequence of munbers 20, Fao) os Foe) sas Fons Fae For example 0 is on a cycle of prime period 2 for F(=) F{0)=-1 and F(-1)~ 0. Ths the orbit of is simply 0,-1,0,-1,0,-1, We abo say that 0 and I form a 2jle. Similarly, 0 bes on a periodic onbitof pie period 8 ota S-yea for Fla) = fe" + fe +1, since F(O) = cuarrers ongms 1 1, F(1) =2, and FY2) =. So the ont e 0.1.20, ‘We willte much ater that tho appeacance ofthis semingy harmless ple has surprising implications fr the dynamic of thi function, In general jis very dificult to fd perode points eval. For example, to Sind eyes of prviod 5 for Fl) = 2? 2, we wold have to sole the Fg) -2 20. ‘This i» polynomial eqution of degre 2 = 32. Polynomial equations of uch high degree are url posible to save exactly More genes £0 End eyes of period for thi futon, we wou have to slve « plyaotil cequsion of dogrce 2, dearly an imponsble task Note that fz has prime period, then 2p i also Sed by FO edn FM (z4) = PAUP (cy) = F(an) = 20. Silay, 2y i eed by FE, 90 fy that zy period wk fr any pote sntgee mW reve the word Prime period forthe een = “Also, iz leon period orbit of perio then all points on the orbit xy have pid ka wel. Indewd the orbit of srhich has pero “A point ru cll contully ce or eucrully perdi fx itl s not Sx or prod, but sme pont on the obit of) Sed or pride. For example, 1s eventually fed for F(z) = 3% ge F(-1) = 1, wbich ts Bxed. Sins 1 i ventuely period for F(z} = =? since F() = 0, sthich Los ona evele of period 2. "The point 2 i alo eventlly peiodic for this anetion, snc the eit i VB,0,-1,0,-1,0,-1, In. typical dynamical system, met obit ae not fx a period. For ‘example fr the linear fnetion T(z) = B, only Osa fixed point. ll ther frie of T get Inrge and larger (in sbvlute tle) under itertion since cq) = 5p. Ident fy #0, [F(z] tend to infty asm appronches zo).‘The situation i reversed fo the liner function Es) = fx. For oly is fed, but for any 25 #0, Pes) a Since the soquence {3} tend to 280, we have May) +0. We sy thatthe anit of converges to the ted pot 0 [Ar another example, condier the aguatngfuetion F(3) 1 sey to chek that F¥ (30) +O. For example, fz cite seis Filed < 1, then the 01,001,001, ..10°F 5 whieh leary tends to seo. ‘hie example points out one danger i using » computer or clesltor to iterate function, If we inpat 1 ato nace clelaor and theo epee the "3" hey repeatedly, we are computing the orbit of 1 ander {he squaring oncio, However era few teratons, the eseuator dap wil ead 0.000. Thi of nur false Wo know that the nh pon the orbit of Oi is 0°¥, which nonzero, ‘The enleltor, however ca, store sumbers up to ony @ finite numberof dein pees” Hence 10° $s cepresented a 0 for lage enough me wl loys av to keep ths ‘hind io later sections when we compte orbits merical. Yow sold he forewarned thot this i atthe only way that a comptes wl he 3.4 Other Orbits ‘The simple orbits we Ive discussed co far—fie, periodic, nd eve tually pesodie obits as well a orbits tht tend tom apie t= night termpt you to think that dynamical systems tyienlly bv recy imal Irie” Actual, aobing could be fut rsh the eth One tie nae scoters ia tematic ve the past tenty-fve ynt in ona si ple functions suchas quadratic fonctions of asealvaiale-inyhavenany cis of incredible complet. We give bee two very simple examples, Conder the quadratic fantion SPD The orbit of very simples evntully ee Fe 0,~2.2,2,2, cmpreR 3 ones 23 Bt ensder the orbits of nearby points, In Table 1 we have listed the feet, {ow points onthe ort of ther meaty pits Neti what happen afer ‘vey few iterations, these tits are fa rom being Hae. I at they Sex {ovender almost randomly shout the intra from =2 192 Taine our Sst ‘ew of cote have, one ofthe ain subject of thie book, ec is ence vow fon often rie, In Fite 33 we ley tubule inorel “2 £22 8 int 9 bites of sql wih Got. We ten computed 20000 pints on the orbit of 01 and sare of tor pit ove en subinterlcach ine the obit entered hat ner ‘otthow te otht ne Gtued ul nt gue evenly ve the tere wee 2 $2 hm however, inte ech eter» wana manor tines This, ton one fhe Ingres of hate bert ck we Wits aor24 DrwaicaL srsrews ig 3A Sagal he 3.5 The Doubling Function Our nest examples eto which we wil ern often in this book the oxbling fonction. Tis funeion has demain the hal-open, bal cloued it lnervalO x < 1 which we denote by (01), The doubling function Dip Br oszene eboed by mern{a a Vaeeet ‘The graph of D is delayed in Figure 3. Note that De (0,2). We may define D moe succinctly 6s Die) ed 1 ‘This means that Dz) the factional pst of 2c. For example, D(O3) = 06, but D(06) = 12-1 = 02, and D(OS) 08, ‘Note that D has lis of cycles. Por example, 0s «fed point. The pins 1/9 and 2/2 ie on 2 2ejele. The pin 1/5 les on eel And 1/9 et on a Gaye: Te turns out that there ace many other type of orbit for tis function, fining some that are aot periodic eventually peviodie, oF convergent © ‘eyse ladon, ate wl ve Ina, most tts are of none of ese ies However, on typical digital computeror sent alultoe we never el sg, almost never) soe any ofthe onita. This the content of ou Bt 3.6 Experiment: The Computer May Lie Goal: The sim of thie experimen i to compute a numb of orbits fr scveral diferent functions and record the eesults. We wl wena we peed "atthe els generated by te computer est often be aileding or at plain wrong! Procedure: Consider the following three fantions 1 Fi) = 2-2 2. G(2) =2" efor sme e< ~2 (p00 cote 6). 8. The dxbling aretion D For each of thane faretions, choowe ten diferent initial seeds. For the oubling function, cach seed shouldbe inthe interval [0.1}- For FU) 2, ech shoul be inthe ctrl (-2,2) Foreash chown ed compute the fst 100 points onthe eocrespondng obit, Record the celts hy iting "he nil seed together with ht happened to te orbit tht i, determine Whether the edit ie fixed, prod, evetully erode, or has no vinble pattern Results: After calling all your date, write «brief cnny summersing what you have sen foreach function, Given your data, can you make anyConjectures ebout the bubavae af these functions? Ror a giveafunetin, do {ler sot al) bts Behave inthe sate way? Talade a yout ee out ‘conjectures and speculations about enc fscton, Notes and Questions | 1, For the doubling fuetion, you should ty estain rational values ee as 24 = band 29 = | whow erite we aed know, Do yout results agree With what we ready Know? Or dows the cmmputer give fae reals? Ifo, ‘an you explain why thie bappens? Tn furs enn, dncuss ce send of "is experiment together with our theory fo wy the compute eect he way ti 2. As bint, consider what would happen if your computer actualy store ‘umbers in binary form. "The computer would not soce the eae bina fzpanson ofa given number; rather, t would trneate ths expansba that only an approximation Io the number f stored. That i, numbers ‘he interval 0 <2 <1 would be stored inthe computes atm Bite sm of (he fem What happens to such number under iteration ofthe dxtling fanetin? 8. IF you have acess to 8 program tht dos exact rational esithmei st this to compute orbits of ational numbers he for sind the dvs funtion. What do you now ee? Can you make any conjectures about ite rational points? Exercises 1, Lae FU} = 24. Compt te is oe pins a te i of 1/2 2. Lm Fle) = 41. Compute he fs Be pit the i of 0 3. Let Fin) = FF =2, Compute E40) ad Fe 4 Lee $4) = x2), Compute 924) Sr ae (2, 5. Let Flr} = 2% Compte Pe}, FY, al PM). What she ala foe FX} 6. Lt Ate Tek Cape Ae) ana Aa ‘cuarrens onoms 97 1. Find all ral ied points (fp) foreach of the flowing funtion a Fle)=de42 b Fujest2 PH Pate i £ Fa)aat bh Fle)=ssiaz 15, Whot aco te eventually Red pats for Als) =I? Show that lie 82 eye for thie function 9. La Fle) = 10. Consider the funetion F(z) = [2 ~ 2h 1 Wat are the Bed point for FP [If iano integer, what can you say about the orbit of m? What happens tothe obit ifm is even? “The following four ences deal wth the doubling funtion D. 11, For cach ofthe following eds, dteus the behavior ofthe ceuting obit under D. emeNt 12. Give an explicit formula for D(a) and D¥(2). Can you write down & several fornla for D™(e)? 15, Sketch the graph of D? and DY. What wil he graph of D" look like? 14. Using your answer to exercise 12, fall ced points for DY and D® ow many fied points do D* and D® have? What about D*?28 orvamcat ies “he ann Sr exis wih hin 2 wogesin ron {%,, Hosesir Dae wipers ean Pld ttm of shag igh on he ‘interval [0,1]. " faphon _ 16 She te eared — i —rt—~—s—S—SOCO 28. Wado be ph Tt at CHAPTER 4 Graphical Analysis Jn thi etin we introduce a geometric poocedue that wil help us un Aentand the dynamic of one dimensional mappings This procedure, elled igepicalenelgns, enables sto ve the gph function to deere the ‘ataviae of obi in many cat, 4.1 Graphical Analysis Suppose me have the graph of futon F and wish to delay the obi of x gven pint zp. We begin by supeciaposig the diagonal line y= 2 the grap of F- Ae we sain Section 4, the polis ef atertection ofthe ‘gona wth the graph give the fixed pots of To find the ett of tee bgit tthe pst ee 20) on the dingo diet above yon the = a, Wie fist daw « verti! ine to the graph of F- When thi line mt the grape have each the point (29,F(24), We then dee a horizontal ie from te point to the diagonal, We reach the diagonal nthe pint whmse sreoorinate is FIs), so the 2-ooedinnt x also F(z). The we ten ‘he dingo diy owes the point whe coordinate e F(z), the Rest pinto the tof 2 "Nom went ths procedure, Draw a verti ine fom (#24) Fea) ‘ow the dig t the gent th yee the pont (F(sn) (em), Thea ‘heczontal lie to the dagen reaches Ube dingonal at (F*(29) E40), ‘ie above the next pot in the ok “To cisply the orbit of xy geometrical, we thus eantine thie procdre Wwe st dee vsti ine fom the dingoeal to the graph, them herizna tal ine from the grap back tothe diagel. ‘The revlting“stleace™ oF obweb" provides an illustrative pitute ofthe eit of 4Figure 4.1 shows a typical pplication of graphical analy. This proce dure may be used to desaribe sme ofthe dymamieal behavior we stint revious section. Far example in Figure 2 we sketch eaphie alan of F(z) = ve. Note that any postive sy gives» staiteace whieh lend a he ont of ntrsction of the gtaph of Fath the digooal. This of ure, he zed point at = Fg 41 Grp a, fF Fig 42 Gupta Jn Figure 4.3 we depict sraphical anys of C(x) = conn Note that ‘ny orbit in his eve tends agua tothe pint of ietoeeson ofthe seg ‘of € with the diagonal. Ae we obserwed merely in he previous son, ‘his point i given apposite by T0008 (in ans), ig 43 Gp sai ee) cae ‘Az we sain the previous section, pie points for F satisfy F*zs) zy, This means that he ne sgment generated by gsuphial asl ven ‘Nally return to (203s) on the diagonal, thus yielding a loved let in ‘he graphical asiysieFigue 44u shows tht F(2) =o? Ll adie = ‘Deyele a strat by the aqua geawrated by graphical analy. Figuce ‘.tbshows that many obits end to this eye, This Deel ean be compte ceoplicy See exe 6 Z ei Gohl ania Fe) We ennnot decipher the ebavior ofall orbits by means of grape analyses For example, Figoe 48 we have applied graphical ays to the quadase faction Fs) =4z(1~ 2). Note how complied the obit ofig 45 Grape aay oF) =~, yal Tinie another gig of chaotic behavior. 4.2. Orbit Analysis Graphics! anuysissometmnas allows ws to dete the behevior of a! bit of «dynamical apse. For example, cosier the function Pe) The graph of F shows tha! there are thee fol pots at 2a ‘These af the solution of the equation 2? — 2, er «x = 0. Graphic sali then allows us to read of the following behave, I [ele 1 then ‘he orbit ofa tends to sro ae depicted in Figure 4.6u, On the ole ban, ‘Efe > 2 then the oct of zy ends too, an Figure 40, ‘Ths we se that we have acount fr the tekavioe of the oti of ll Points, When we ean do this, we my tht we have performed complete bit engi, While his aot always pombe, me wl tine fa the tage to develop techriqys tht wl allow us to undersea az many of theese of dyoamie! ester as posible ‘At this jnetre, we should emphasize Chat graphical analysis is by no ‘means a completely rigotous teal, in oat cae we canaot te aphid suayse a proof thar erin dynamical phenomena cece, Howeser le is uo gestion that this procedure alle tool that helps explain wat ie gong on, ‘CHAPTER « GRAPHICAL ANALYSIS 93 Porn ebb kot Maes mi aa 4.3 The Phase Portrait (One sueinet method for depicting ll obits of a dyaincal sytem ithe phase porta ofthe system. This pietare onthe ral ne ofthe orbits fn the one-dimensional case the phase portal giver ur no more information tha graphical azalgeis. In dimension two, however, when graphical east leo longer posi, me wil ely solely onthe phase posta fo descebe the Ueharorf oct Ta the phase porteait, me sepresent fixed pints by sold dats and the Aynanis along otite by arrow Foc example, a wesw ao, for F(2) 24 the fae pnts oct at O21, Teg] < then Fo(ze) + 0, whereas Tnal> 1, (zu) ~+ 0. The phase portrat for this nap i showa in Figure a ecco Fie 42 Phe prio Fe) = ‘As another example, Fz) = 2? bas two fied pints, st and 1, and an eventully Sued point at “2, Note that toy <0, then Flea) > 6 ed ‘ll sabequent points onthe xkit of pare poitiv. The phase poral of Fla)os itown ie Figure as6, Consider Fz) = 32-11. Fiat find the fixed points of F. Then use ee 1. Allof the flowing eerie deal with dynamics fina functions ofthe fxm F(z) = 07 +b where a und bac constants Fo the Bed point of F(a) = a+b For hich valu of «and b doce F have no feed points? Fer which values af und dose F have ately many fxd plas? 4 Mg 48 Pha pra Pa) =? Exercises 1, Use graphical analysis to dercrbe the fae fal orbit foreach of the flowing functions. Use diferent ears for ortitethat have dire Fe) Fe) Tor which male ofa and 8 does F have exactly one fied point? Suppose F has ut xe Bead pot and 0 [| <1. Using graphical tnalyss, what con you sy ebout the behavior of al ober orbit of [FY We wil el thse aed points atractng Sued points Iter. Why {bo we uae this terincogy? ‘What rth bebavor of al obits when «= 0? Suppore P hax jst one fie point and [ol > 1. Using graphical saps, what can you ny about the behavog ofl other orbits of [Pip thir eave? We ell uch fied point repelng” Can you explain vey 1 Perform a compet obit anys for Ba o,and 620. Perform m complete orbit analy for F(e) = = + . 4 6 2. Us api anti od (| (es) — 0) foreach of ef Pla) = 2e(1-2) Et bineme b> 6 an Ml ‘8. Sete the pha portraits freee of the functions in oxeise a Faledr-2 bate © Fla) are © Fa)= ta © Es) 5. Let F(z) = jz 2) Use graphical alysis to dipley 9 vasiety of ote of F seed to doplay cpl of period 8, befor evenly fs ort, tnd green for orbit that are evenly peti ee ee[2] Pixed Point Theorem. Suppor Flail + 36 pyvamcar sysrens CHAPTER 5 Fixed and Periodic Points see points and elo are among the moet important kinds of hits of ‘dynamical este, ots impartant thal we be ableton them eal. Av ‘we have see, somelies this invltes solving euatons or detwing acura ‘aphs. Thase methods, however, are not alway ely carried out AS We ‘hall ue a ths chapter eles comer othe rescue 5.1_A Fixed Point Theorem One ofthe simplest extern for finding fs points an imme con sequence ofthe following important fat fom al ‘The Intermediate Value Theorem. Suppose Flot] R & continous Suppase yy fis betwen Fla) nd FQ), Then there ty aay i he Sera (oie Ft) = ‘Simply stated, his theres els wt tha» continous function seus at values between Fa) and F() onthe inter fH An meine con se gonequence i is contnuons, Phen here i a fed point for Fin ln Teemarke: 1. This theorem aes the existence ofa Int one fixe point for Fin lol there may ofcourse be more. For exp, al pots in any interval se feed bythe identity function Fe ‘CHAPTERS FIXED AND PentoDIC Ponts 37 2. There are several important hyphae this theorem, the fe two bea continuity and theft that F tae the itera fat} nko ack, Vedios of either of these may yield function without Bxed pointe ‘3, Also, i i important hat the itera [a,8) be clon. For example, F(z) w 5" takes the intel (0,1/2) ide tall ead continous, ut ‘there aze no fed point inthis open interval (the fixed pint Oe ante of (0.4/2), 4 While the Fixed Point Theorem asserts the existence of at lent one xed pint it unfortanatly does uot gve ws any method of etully Roding this nt, However, in practioe, we alen don now to ow exacly where the fixed point les Just the knowledge that iis prevent fa certain lateral sftensubce fo ur purposes, ‘The proof of the Fixed Point Theocem falls fom the Intermediate Value Theorem appid to H(z) = F(2) This en continuous faretion at aati Hla) = Fla) a0 Hi) = Fl) ~bs0, ‘Thusthere isa ein theintermal [a8] wth (e) and sos out Bed poi. This estes Fle)-e= 5.2 Attraction and Repulsion ‘There ace two masked diferent types of fed points, etrecting and sepelling fined points. We will make thee aolionspreie in «tote, bat ‘fac ow th ea bein these concept i ustated bythe sqoing faction H(z) = 24. This map has two feed points, nO and at 1. But note what happens tothe ebite of nemby pis If me chose any et with [ee] © then the obit of rapilyepprcachen zero. For example the obit of 0. (01,001, 00001, 0.000000, Ta fact, any ay with 0 < x6 < 1, no mater how close to 1, leads to an oit Ut tends Mic" om i ad close to 0. Far example, the orbit of 08 (00.81, 06861, 0.480467. ,0.185902..0.094996... 0.00217. More preiely, if 0 1, then again the orbit moves far om 3. For example, the cont of 1 ie 1.13.28 14880, 2.1496. A 550... 20114 4620‘Thus, if. > 1, we have F(z) oo as n+ co and hence the okt tends fae fom Cea, points that are close to 0 have eit that are attracted to 0, while points close to Tae otite that age eyelid, thet tne fe fom, Graphical analy ofthis feneion, asin Figure) showy vividly the Alierence between thee two typeof ed pint. = Uh ating it 5.8 Calculus of Fixed Points ‘As another example, consider the Hneae futons A(2) = ex with 0 < (9< and B(2) = Bz with >I, Each function hss Bred post 0, but ‘his ied pond i ttcucting fr A aad cepling fr. Graphical mals ‘shows this deny in Figure 2 Now consider the sume onetios, his ie with 1 < w < Oand -< —1 ‘Again, graphical anapsis (Figure) shows tt bas an tne Bae point a O and B has a repeling Sued point m0. Phin tine orbit hop back od fort fom left to ight abt son, howl ty ste appease see for are repeled fom ser. Clearly, te sap of se signs sags ‘toca oe determining wether or nt inet faveon fas sr ang ‘ot repeling fixed pont. As you min the exerci inthe last chap, the Set holds for funetins ofthe form cs d where ¢ and dl ae consists we vel ‘Things that calcul wil allow uo difereotiate (patdon the lousy us) between attracting and repelling fixe points for moulnens action, o 1.00. and () Ble) Be 81 ® oxot.ca Dane (b) Bi) 852-6 ® "p53 Graph wala) Ate forthe derivative gives ws the slope ofthe tanget line to the graph of & finetion. Tn particlar, ear a Beed point ty f we exanine the graph of the funtion eon, the magitade of the fest deiative F(ay) tele us how step the geigheromer the dagonl at ths pat This lends tot portant dfiton Definition, Sumy» end pit fr Fhe a5 ea attracting Reed print if [F(z] 1 The post xy tex vepelng feed point Ian > 1 Falls i [{se}l =, the hed point called neta o diferent ‘The geometric eaionle for this terminlogy ix supped by grapes! oasis Conse the grep in Figute 84a, oth of te fancions have Se points at zy. The slope ofthe tangent line stay (su), in both ses kes than Yin magaitde: [F(sy]| <1. Nate tht this oeesnensby40 ywascat sysreus bie proud a, jst tn the near caves above. If =-1 < Fea) <0, 1 in Figure 8.4 tho orbit hope fom ene ade of m to the aay ‘spprouches 2, The phase port in the tro eases 9 © Pes) tea W2< Flay) <0 ae ated in Figure 68 x (oertener W-e Pia eo Mk. a ve een an ating a oc rtay cr 0-16 Pim) <0 a 55 Pate pe poral era mircing ar, the oles han, i [spl > 1, graphical anny shows that seaby pole ave orbits that move father away, thal is ave rpc Age F Go) < 21, orbits enilate fom side ose af ay a they move see in gure 58. Ae belo, te phase porte (Figure 82) shou ew wee, orbits re repel ia thee ena ‘As an example, consider the funstion Fs) = 2e(1 =) = 2 ~ 232 Ghats © wad 1/2 ace fied pointe for F. We have P(e) = 2 der FO) = 2 and F(u/2)~ 0. Thos Oia sepelng ed pin whle W'S sittacting Graphical analysis confine tis ashes in Ree oa reat Pea) <1 Nee ge » Fie 68 Fle) = 21) haan rtog ed a42 rvaucar sverens Nove that if (so) = 0, we may have seer! diferent types phase Boren, ag shown in Figure 58. In all ase, however, the Reed soot ae ON E he 9 Phe one ees fe () Fe} =, () A) =a Pe Twente) an 40) 0 5.4 Why is this true? The graphical suas in Pigues 04 sd 8.6 are ereaaly caw acing ‘evidence forthe ruth of or hits Uae the magnet Pl) dees hates sy i attracting o oping. Dit hom thao th tae en ‘expecially when the los ofthe tg line ne se tthe cute oan wineiy 1? ‘The staver is provide Ly one of te tt weil thre in al wf tale, the Mean Value Theor. Res he nyt see ‘he Mean Value Theorem, Suppo F iso diernihe fonction ow fhe intra 2 a tt Fc 1." may there choo munr 8» 30 hat [Fs] © provided > alonge to the snterval = fy 639 46, Now lt p be any point in! By the Mena Vaoe Theorem FO) = Feo — to that IF) ~ Flzoll< Alp ~ 244 Dyvamcar systems Since is» fed point it follows hat FFG) ~2o]< Ap—2- ‘This moaas thatthe distance from F(p) to 2y i amalltethan the distance fiom p to 9, since 0 < Ac 1, In parialr, Fg) lo sine fatal ‘Therefore we may apply the same urgumen to F(p) and Fc), Boing [F9G}~ 01 = IF) ~ Fen < AF) ~ Fla)

0, LEM) — 20 < Ate — 2 Now A +048 n-+ co, Thus, Mp) 45 a2 m+ oo. This ompleter tho root. ‘We observe that the proof ofthe Attracting Fixed Polat Tote st ally tells us tle bit more than the statement ofthe then npn Te ineguabiy, HE) — 2a] < O82 — al ‘ays that ach obits (thos being 1) actully converge erponentily to the fed pont. Notice thatthe number A may be chen very close LE) 2 ts esentialy this quantity that govern the ate of approach, feist “Anging in an entirely analogous manner, we have Repelling Fixed Point Theorem. Suppose xe ise reeling eel point for B. hen there is an interval [that camaiey 2p ts intone ‘ich the following condition sated: f= wad's oq, ten hee Sninrgerm > 0 rch that P(e) [These two theorems combined justify our ue of the texminelgy “a leating” and "reeling" to deserbe the corseponing Seed pote poe cule they tell the Toa” dyoamiee nar say fed poi ay fr which Peo A CHAPTERS FIXEDAND PERIODIC FOWNTS 45 ‘One majo ference betwen stein nd epeling Bae pnts the fet shat cng pms ih ome wh tng pass generar at. We ean en Bt ay airing Bae pot fy chong nial wed andy ad caning rt Sealy I Eis cebt ever enters th tern ftbnt so String fed poy then we now fhe feof hs ott eerny comerges tte acto faed porn. Oa the ther had othe css paling fed post te eonly ‘Seen or would have to and eacy on the Bred pi i der fro toaceit Ti rely bappen, or ten ithe Oh comes wey neo 8 trpling Sed past ound’ wi teow uve the fed port ad Sloan ori hat moves ay Th tant re maul of ey oe stating ov repaling eases For example, the dey feetion FU) = 2 Enea pista but nae ee tring ox epling Abn Fs) == Ses ‘er, bot thin ot an ractiog ot vepeling Sec pat Sac a they fatale on een of eid 2. Falla Figue St shows Fs) =e? Eerbsed pine at seo whichis tring em te ght but ropeting fom {bee Nave that [E(O} = aa ee ces ig 511 The fal pit ee Fe (nm the other hand, neutral Bod pointe may attract or cop all nacby cits. For example graphical analyst shows hat Fa) = = has fe Dat that airat the ott of any = with | © 1, where F(z) ==> 2 Fepek all bits vay fom 0. Test fod posts ae sometins eae wey tracting or weatlyeepling, sine the convergence or divergence is quite ow. ThE lst in Experient $85.5 Periodic Points Justa in the ease of fie pnt: esate points may ls be cused 1 atreting, reeling, or netel. The calcu bce tony sgh more fomplieate. Lets begin th ap example, The function F(x) = 24 — 1 hasan at teactng epee of period 2 with erit 1, 0,1... Grphicel amas nt “lepieted in Figure 612 indicates hat thie ey shouldbe senting al M542 An arcing eel ri or Ae) 2? ‘Te see my this io the cane, we examine the graph FY) = (22 =1)?— a4 923s shown in Figure 523. Note st F° has fot Raa pt ‘the evo ied points of Far well ar atthe pescd 2 pointy D aad nt Note thatthe derivative of F, namely dr! , euher at both O ted =, Aha ins (F9Y(0) = (F°)(—1) = 0. This ineates tt tse tno pods ae cactng fed points forthe econ tere F. Tt ver ero of it of points nentby Cor —1 ese to tw pints Use eaton of F ower, thee orbits epee Back nl frth ae ey cog he Degde ‘on to exer in the tural wag m esi pint of pers is neneing (ccpallng) if isan ttneting(ccpeing) fined point for F™, This boone Aintely brings up the question of whether peo orbits en contain ine Points that are attracting eod some that aera, As we wl ace blow, fnelas spe that this wt the ease ‘To determine ia periodic pot zy ofpciod ni attenting &cepling, ‘we must compute the derivative of PY az. Recaling at Fic te ms Fig 618 The gh ofthe mio ete oF itecate of F not the nis power of F, we ae that thie demands the use of the Chain Rule. From ellos, we kaow that if P aad G ave diferente functions, then the derive of ti composition i give by (Peay) = MG(2))-6'). a patie, F(R a0) F(z) Flen)-Ple and FUP) (EYo0) Fes): Fla) Peo) Tovoking the Chala le» — 1 times, we Bc Chain Role Along a Cycle, Suppose xo.zj.u- lie on a ele of eviodn for F ith = Pz). Then (FY Ce0) = Pena) oo la) Fe Note that this foraula lls us thatthe deivtve of "at 29 i imply ‘he proet ofthe darvrives of F atl pointson the rit. This tenes tt ‘we donot have to fie compte the forma fr FA we asd id i he ‘ernie of P and then pl in 49,t)---r#40)tespoctvely and tly48 pywaumcatsystens ail ofthese numbers togetber. Tit saves alt of algebra, especialy fis lange. For example, we saw above tat for the function Fs) 2? tak has a rset 0 ad 1, (F8)(0) = O. We computed is by dot fang tse forma for F¥ and then fretting wt 0. Buy snce P(e) Oe, oe Ringe PIO. Ba FC 5 ad y e Chane long Cycle aguin(F2Y(0)= ~2-0 = 0. Silay (FYI) = 2 Oem ‘Ths fet thay a thi example, (F*)(0) = (P2)(=1 oo accent bce of the following Corollary. Suppose 2o2t..-ta-t Keon an meyle for F. Then (FYa0) = (FV (e1) =o (PY This corollary fallow immediately from the Chain Rule Alog a Cyee, flac the points on the eye areexcly the sae, no males wich oie ‘hoven athe itil ee Example. Consider F(z) = ~33* + $x 41, The pat O fies on a eyle of Detiod 8 since FO) =1, F(t) =2, and F(2) 0. Wehave Pls) > cas 2 so F(0)= 4. FU) =~ and PQ) =F Heme PYo-Fe@-FE-F@ ‘Therefore thie ele i epling. 5.6 Experiment: Rates of Convergence inthis experimest ou wilioventigate how quickly (or slowly) an orbit is mtraced toa Seed pink. Your goa nto vee his spec sheers tothe alu ofthe deratve a the Bead pot Procedure: Each ofthe funtion lite below has a xed point and the ‘grit of 0.2 tented to this point. For enc ncn une tie opus 'e compute the orbit of 2 ut treat” tbe fee! pot ee es sab Se ee tn tn 102 et eect een erie merdmton o ene ee ee ces Seal . ‘he functions you shoul ey a: Results: Ate compiling the date, compace the reali fr eat faneton, Ja fanesny dacrbe wnt you have observed. What fete selatonhip between TP(pl an the speed of convergence a p? Which fed points have fastest convergence and which have lowes? [Notes and Questions: Boch ofthe following funstions bas cyl of pid 2 that attracts the obi of 0.2. Th each eae, detenine the cele exten tally and estimate the davvtine of F along the eyele. (ou need ot salve he equations explicit to gel exact vlan, tough this can be done [Agsn compare the atractng seul ncn a Fa)=2—1 bre)=e 1 ©. F(a) = #9125, Hints The Boye igen by (= varExercises 1. Poceach af he following unetions, dal Seed points and casi theme 1 atractng, pling, ont Ff aa) FG@)= 201-2) Fi)=(2-a/10 Fia)a st asta? 2, For each of Ue following fuetone, zero leon x periodic obit. Clenify thir obi ae attracting, repeing, oF hele (on ees ae-8 f2>38 8. Soppote sys oma cycle of prime pero forthe doug fnetion D Balun (D°) zy). le this pele ateeting or eepeling? 44. Bach ofthe lowing fonctions Is nets fae pint. Fd this fed point and, using grophieal analysis with eo nccacte gen deter tit Fajes+2 FG) = 1s, Bla) =e! (Fixe point i 29 = 1) et (Gx pont i = ~1). Hin: Examine in etal the ‘gap of Be) near 2 = —1 ating higher derivatives of £* k Ba) =lale— 6 Suppose that F has aneutral fe pont a zp with (se) 1. Suppose abo that F° (zp) > 0. Wht ean you any about "in sy wendy aectng ‘well repelling, or either? Use graphical analee andthe conevity ofthe iapbol F neers to spport your answers, 6, Repeat eerie 6 bu this te assume tat F(z) <0. 1, Suppowe that F bus nesta fd po at co with Fay) = and Fis) = 0. Suppose alo that Psy) > 0. Use graphienl analysis and the onevity ofthe gnph of Fat yt show thet weal opel 8, Repeat exerci 7, but this ine ature that (sy) <0. Show that 20 Fe weakly altacting Combine the rests af exerszes 5-8 to state a Mratal Fised Poin TheCHAPTER 6 Bifurcations In this shaptec we gin the stay ofthe quate faily of funtions| Qelz} = = he where civ a comtant While these Fastions lok simple noagh, we wil soe that thee dynamics are amasingly completed, Tadend, {heir behavior in not yet completely undertond for certain eves. Tait haptrinjus the beginning of long sory shoat Q,(s) = =?-+eand elated ‘Ayana systemo-one thas wil oreupy our attention fr mort of the et of {his book. Here we trodace vo ofthe most important types of bifreations ‘hat occur in dynamics wil soe other ype Tate 6.1 Dynamics of the Quadratic Map ‘Throughout thie chapter we let Q, denote the family of quate fe. swe get a diferent dyzamiea sysem Qy. Our gals to understand how the Aynamics of Gz change aerate, ‘As tual our Bt tack isto find the fixed points of Qe. These ace bese by sling the quadratic equation which ede tro rote ‘Thea ae the two fixed pnt for Qa Note that py aad pare elif and only if 1~ 4e2 0, or ¢ 1/4. That fs when €> 1/4, Qc has no fed ponte whatsoever, Whet ¢~ 1/4, e have Totem 0, 9 tat ps (2. Finally, when €< 1/4, 1~4e> G29 that ps and pare tel and distinct Note that me always have pe > pin ‘hs ete at's return aw to the case e > 1/4, The graph of Qe je pacabala pening upward. When ¢> 1/4, this graph does wot met te diagonal tine ‘ence graphiealatalyis shows that all orbits of Qz, when > 1/4, fend to infiiy. Therelore we understand completely the (rates sips) yams inthis ease Fy ea Aes 2 betore> Yea oss When decrease below 1/f, tis stanton changes—we encounter ou fat bferctin, Bication race» divs i tem apitng apart ad Unt is early what line happened to the Bed points of Qu. Fore > 1/4 (Qe has ao fxd points; for = 1/4, Qe has exatiy one fed pont but for £°< 1/6 tht Bo pot spite nto two, oe at py and oe at pos Te the ‘ext ecton ne will this hn of lfeention the saddened or tangent Uifreaton nad dear it nore fly. Using the reste ofthe previous chapter, we ean cck wets the Sed Ponts pe ate altracting, eepeling, or meatal. Since Qi(z) =2e, we Bod ipa) = 14 vIn ‘We rely hoi wie yon (since bah is pit pen on54 pyvaucar sysrens ip.) ITE. Note that ps yb py) > Lr /tsince VIF > (forthe eins Hence py et ntl ed pan wea es Yt bt replng when ‘The tation frp is aigly move complicate, We have Qs.) =1 phe = ME Uhre, of coup = pe = 3/2). When ssh below Us, Qip-) cit p- beemesstacng. To le the eves oe whi (inj < we mat sve “I< Gipyed “ iet-vizRen. Solving thee fequaities yee a> vireo s>i-tera ere ‘Thus pis an atrctng fed point for Q. when -9/4 3/4 1B When © = 1/4, Q. has singe fico point of py = p_ = 1/2 dat in nesta, 4, Fore < 1/4, Qe has tuo feed points ag snd p. The fd pat py fs afte e 1/4, pi atirctng, Dem ~3fh, pe neta 6 ee 8/8, po is vepeling. ‘We cbse one pint hee that wil be atl inthe next fw seston For any © < 1/4, alle the interesting dypamies ccs tne interal “pe = S pp, Note thal Qu(~ps) = py 20 ~Py i an eventually Baed pol. Mesa s Uh mye wih> pach Indes, graphical anasis shows that if x > pg 0 + < pay then the obit fs sply tends to infinity (Figure 62), ‘One can alae prove tt, for ~9/4 < 6 < 1/4, lobe inthe interval (Cepsps) tend tothe tenting fed point tp, Paotng this eteighfor sword when 0 ¢ < 1/4, bot the proofs more complet in the ether ese “We content curser By simply ilusteting ti fat vin gropisalanalgis ieFigue es Wce "3/4. We ask if this is tue fore < ~9/4? The answer i aaa {ele of period 2 appears when e< ~3/4"To pe thit we tle the equation (Ge) ==. The sealing eqnton i of fourth degrer end looks forndble HptetstP bono, However we know to solutions of this equation, maoely the ined points py snd p_- Hence + py and 2 —p are fasts af the equation (ot ¢ = 1/4) ‘Therefce, sis (2 ~ pe —p-) =2" +e~ 2. We kaow what this product since both p- and py ave Saad points and thus ulus of s"+e- t= 0, "Thus we may dvd by hi quant, obtaining Hinetstdte atte te tasted ‘Then the solutions of? 426-41 =O give fxd point of QE that ar luo erodis points of period? fr Qe. hens rats are a=} (ave) [Note that ge lea depend one. Furtertore,g aresealifonlyif —4e—3 20, that ite <-3/4 Hance we havea new Ko of bifurcation call pried aig Wifrction. Ase decteases below ~3/4, two things oct the fed point p-changes fom attracting to epeling and anew 2 O sch that 1, For lg =€< 9 Jo, Fy has no Bee points i the interval 2 For Am Ap, Fh hasone Seed pont in aad this ed point is eutel 8 Por dy A> Ag and 0 ft, 2 Petodi pointe may undergo a sadlenode bifurcation. These are de ‘erbed by simpy replacing Fy with F for x eyel of period’ min the shone defcition. T 43. The suddenedebifuication typiealy occurs when the graph of Fy has = quadratic tangency with the dagona! at (sy,24) (eo Fits) = t batFics) #0). This condition ips tht the graph of Fy is ciher concave ‘por down, 2 that neat £m, Fi ha only the ene fixed pint 5. 12 ‘Toe fact that Fy ie tangent to the diagonal a 2y it the reson for {he terminaogy “lange” bifsration. The term “saddl-node™ comes fom 1 deserpton of this bifurcation in higher dimensions and in the Sld of eel equations. In ou simple selling this terminology i tt very ‘eanapatent, but ito aevertels standard 5. Bifrcation thaoy ie "Loa" theory in chat we ae ony concern about ‘anger in the periodic pot structs nee the peruneter value 3. That {nthe reson forthe ein the defsiion. Usually small. ‘The typical wddle node bifurcation acurs as depcedin Figure 4, The accompanying pase portrait are shown in Figure 85, JA (ie main (>a i », eg ce o Lee ge ace 1g 65 Phe pti of) A) 64> [ative Ace Wy, 08), pg Example, The quadratic fnily Qu) = 23 +c has a saddlenode bits cation atc = 1/4 a disused inthe previous section, In this exemple we ‘Bay take the atrial Ito be theese sel line Those ae na fae plate Shen ¢> 1/4, neutral fed pole whan e= 1/4, anda pir of fed pints (ove niteacting, ane repelng) for ~3/4- 1/4 there weie ao aed points, but fore < we found two xe pints60 pymaucar stews ] (acr fast 67 A retin he gi iy is) = {hat wee gine by , nale)=} (14 VIB) fn the Difaration diagram we plot the parser on the hovitooal axis ‘ers the feed points oa the vertical axis It i pape perese ta plot ‘Fale ca the veteal aia but such i! Th bifurcation diagram oO, Ss depicted in Figure 88. Note that slong each revi lnee = constant, for either zero, on, oto pint correrponlng to th fed plats of Q Jn Figure 69 webave sketched the biureation diagrams firth beats in the fain 2° $2 and Ae(1— 3), CHAPTERS oironcxrions @1 © ® My.69 Beton age fr) Ee) =e $2 od) Ba) = Set on fr 8 0) 6.3 The Period-Doubling Bifurcation Now we turn ou fn the quate fly Que) estion to th second ofthe bifcains encountered 46; the period doubling tification Deftution, A one-parameter fly of functions Fy undergoes pri ruling bifurcation tthe pracitr value k= i there sam opes eters Tred an e> 0 sch that 1 Pore Xin the interval fy — eo) thee 2 unique Fe pine pa for Fy in 2. Forde 4 < te Fh eo icating (resp repli), 8. Poe dy <3 < dnt there i m igque Rey gg in with Fah) = ah. This Dee trating ep. sepeing) Meanwhile. "eked point pis epeing (esp. attracting). 4 ASA py we ave ah pe cee of period 2 in J and py is Remarks: 1. Thus there are so typial eases fora ered doubling ifretion, As the caer chang, fixed poi may change fem tiacting to repens Id the sa ine, gv beth to an tracing cycle Alert, the xed point may chage rom zepelng to attracting and, atthe tine tae {Bre Dith toa tepeling epee of ptiod 2 2. Asin the allen case, the direction in which the bifurcation occurs funy be reves, Also, cycles may undergo period dui bitarnon Te this ease acyl of pesiod n wil give birth twa eee of pod62 pywawicat sysreus (erie eee 1.610 Fre > -/4, Oy hm sits fad pit, bt oe 1 ‘An sy computation shows that tae 2- ~5)/4. In thie ‘haps we wil ahead a itt study the case wherec <2. We willace ‘ata remariable change bas occurred~for these vals ofthe dyna] behavior i much more complicate, TA The Case © {a Bxperimect.3.6 you computed a variety oforitsofQ-s\2) = 322 for inal sedsin the intl -2 <5 2 Youundoubtedly saw thay alos al bits beaved ina cater baplard fekion. In partial, you probably found very few period o eventually periodic orite (with the exception, pothaps. ofthe Beed points at 2 and -1 andthe eventually fixed pointe at 77, Oy an 1). Her we wl se that there ain Tt, tay snore pve pnt fortis unetion thatthe couipater ned ‘ecal that alo Hheinteceting dynes of Q. tne plac in the interval pe SS py where py ie the palling Saed point with py > 0. Al thes bit of Qe tend to infty. For e = ~2, we have py = 2, wo we wil fencentete on the terval [-2,2} which, in ths sction, we wil el 1. The ‘gaph of Quy on T's shown in Figure T1. Note that Qua i increasing ‘on the fated 0,2} and takes thie sinter ato the ene nerd in ‘one-toone fashion. Similarly, Quy is deerensing on the eubiteral [2,0 fod ang takes ths interval to I in enc tone fishin, Thus every poet (iO the ste exception of 2) In bas exactly ta prcmages ia one7 pywawicat sysreus in [-2.0 andthe other in [02]. Geometsieally, you should tha of @-+ Rit seething and folding the inter T wd then napping back ce if wice as depicted in Figure 72 —, } Mg 11 The popho@-0 the neal 2.2 rm Fo Ray msec oem Mie 13 2s deft a hat nth pi (er 2 coe ie Nov let's turn tothe graph af @2,. Since ane sppiction of Qu tas {he interral 0,2 onto the second itsntion of @- yon ths ntact fd this inter over al of exactly an Qua dion f. That sn wah the ‘evetion of ~2, all point a Isl have tw pretages te Bop Ha. Ofcourse, the tame happen inthe insect! {22.0 Thich why the graph of QF; has exactly two “rally sa shown in Fipee te Arguing ssi, thee are four eubinteraleof that are mappelce Gee exactly onto Zand hence Q> nut fld these interes oes Pee eee So Ue grep of Qs has fur valle in Pa shown in igure 3, Continsngi this fshion, we see that the gen ef Q", ee 2°! veya ‘i the interval 1 Henge this graph mus econs te agonal at est 2 tn ‘ove Late we wll oe that thi graph cones the diagonal enact GarrenT THe QuapRATICFaMY 71 wey ee ig 12 Toe ppb ihe rnin Qs mba In ay event, each rossing sve ut x pv point of not acetal pe) period, 20 we have proved the flowing ‘Theorem. The ferctin Qh of less 2° pride points of period nin Beintonel 220 c2 You should contrast this wi he rerlts we saw in Experiment 36, With the compute you found very few periodic points for Q-s, yee we ow know ‘hat there are infitely many of them. Clearly, enone ging on foe thie function thas sont the eye "This ao raj an important question. For the quadetic fail Qe for cvlue larger than 5/6, mesa that there wee very fw pede plate, (nthe other hand by the me erases 2, ntely ny periodic ts ofall pris have arisen. The big question i: How dd thee pero points Willaddresr ia the steceeding chapters 1.2. The Case © < -2 1s Experiment 46 you aso computed a vaity of extite of Qe when << =2, You mostly saw that nearly al obits af Q tended to infty this ease, so it appears thatch dpenmis in thi eave ae eatvly se ‘At in the previous section, we wil se now tat this by no mean the caeMe 14 Tepaph oC Q, ree 2 For the reminder ofthis section we wil ix a prtculer eae with <2. Itis important to pote that many ofthe fates deserved blow Aepen on which clues chosen, so we realy sould index eveything wih 186. However, to keep the notation ssl, we wil avid thin Jn Figue 7 we show the graph of Qy for s eval lew than ~2. In thiaiare we lo show u box who erties include the pists (~Py, ps) sod (Pysps)- Note that the graph of Q, protrudes though the botim of the Bo, ule the previous cas. A before we denote the itera Ps S =< py. by I. Mote that, unlike the cases = 2 where the polat F's =2 bad only one preimage a1, howe all posi a T have exactly wo rsmage nT. Als, graphical analy hows that tre on open neal {0 containing O that mapped outside of I by Qe Ths interval prsily ‘he set of points ing sbove the portion ofthe graph outside ofthe ba Ie tical, the orbit of any poet in the interalecape fro fase fede {o ifnity Let's call ths interval Ay ay ite et of puts tant sneape ftom Falter jut ooe eration of Q. (coe Fg 18), ow any obit that eventually leaves Its tea to ini 20 we uo derstand the fate of al chs obits, Theselae it temains to uadaatand the fate of obits that never ereape from I. Let ws dena this of pnts be A That i A= (e€11Q2(0) € forall n) ‘Tho set A conan all of cho interesting obits of Qe. The Sst question ix ‘What exact is this et A? What dow lec like "To ase hi, we wl dcrbe intend the complement ofA. From Fig a, mes tbat thee oe * pair of open interme that have the propety thas i in ove of these cuapter7 Te Quapnamic FAMILY 73 Intervals, then Qu) € Ay. Heace the obit of x espe froma I after two iterations. We ell hie pti of laterals 4a. So i € ay i llons that Qe(2)— oo and £8. Continuing, fom Figuce 18, we sx that thee ate {ovr smaller ope subintervals aving the property that fz belongs Yo one of these interval then (3) € Aa and aga the ait of = escapes, We denote the union of thas intervals by Ay So yi the tof pote that escape fom I after thre iterations, Continuing inthis fashion, et ay decte the set of pats ia whowe ort eaves I after cxatym iterations Since euch point in Tha exactly two preimage in, the et Ay oasis of excily {pen interal If point hasan orbit at evento eacape fof then ths pint mut ein for some m, Hane the complement ofA i fat {he dein of they fram What doa A ook Uke? To construe A, we Beet remore Ay fom the Intra, ening two lone isterals bind, Then we throw out Aa, whieh fom Figure 1.6 leaves us with four clove interals"Then We remone Ay leaving eight led iterate. Continng, when we remove Ay me te lel with 2* lowed intervals. The et Ais what left er me remove alo thee open intertls. Thin st ie called 2 Centar se ‘Two question immediately sree. Fie, are theve any pots left afer te thow out all ofthese interrale? ‘The anrwer ye, forthe fed points 1 pa caiately Ue in A. Furthermore, the eadpeite of each inter hat femaine after removing they are alin fr thee point ce evenly fixed (ater n iterations they land on ~p, and wo ner m1 ieations they Tat on the xed point pe). We wl soc Intr that in fck thee ae any ‘many moce pint inthis et,74 prwamoatsysreus » 6 ig. 14 Their a) an A (8) ad A and A tcod oberon a tht A contin miner This ie nove icles Infact we wl makes spliging engin a ae toprorethis more any Let userane inte (SiGe ae Tet of his ssmpton that (Qs) > Moral CPAs es fy ne hed wey tis fact. prs than eae seh that (G0 > alse Tay Now spp bt fans tra J Ley that Jha gt 2 0 Since (4) > n tr all's © 7 flows heat a ag ‘TBeorem thatthe nat of QJ} exe Thin see ine fan Point = and yin J, he Mess Vale These dhe an 19et2)~ Qa > nle~ v1 (me ection $4). Alice JCA, wan ve Q41C 8. Hae we may eae mea os il Qt oe ta cee Rank the length of QJ) exces sheng af Qi) vol eae ed hat the enh 0 500) ape thn ge Beg nN Z _Toeton the tof 40) bene sy ge. Het interval G2 nt win, wich tet ae Ho ‘establishes the revult. . Finals, weabrre tat Aisa cl ashe of 7 ade the compos Of 8 conte ef he open nteras(-oe.=py) Upsseh aad ah ee ae Coates Te wie te hha epi oy, Sn ve Qe)> Qleditas “ Gnapteny rae QuaDRATiC ray 75 ‘Sins the usin ofa cllection of open itevale is open it flows that the complement of A san open set and 9 ie eowe. Set Append A for ‘ore deta on open and loved ste. Lets summaries facta ‘Theorem. Suppose c < ~2. Then the set of points A whose onhite under edo not tend to infinity ty © nonempty lavd set in thet conties no Irtrele Remarks: 1. This theorem eval for all evalu ls than ~2. Our pret only works far € < ~(6+2V8)/4 = 2368... The cam of evalu tone ty 2 ie causideably more diclt and wil be emit, 2. A sabe ofthat contain no intervals called fotalysynnesiad We wil mest many uch ets in the sequel ieling the next ston where we Investigate the prototype of sus sets tbe Contr madaleshnd nt, 1.8 The Cantor Middle-Thirds Set ths section we will discuss the consteustion ofthe casial Cantor smile thids set, o¢ Cantor ext for ahors While tis se may seems ete “pathologie!” at fist, we wil se tht thwe kinds af sts sieeve and ‘over agin in dynamic. Moreoee tha Cantor at the snet bese ind of ‘etal topic we will avestigate in detail n Chapter 1 ‘To construct this etme begin with the itera O ratoa numbers ta maybe wren inthe on tre ge wiho sp eat ow do we Sad the ear expansion mies? We wll wea easy svethod Iter tnt ives yan, bt aw we ingly note ta tn teraay expen Dany then the igi dni wi ied of the ner (Besta) Osten v€(Phitsr = theme ef fei oy = 2, thon + (‘Thc reson fort tt te a ofthe Seri erecting aie ge Ice ta Notice thatthe ambiguous zal ae est those that sae two teraacy representations. So given the digit, we Koow which third of the ait Interval es in the ef thied ifs = 0, che mile nd if 1 ~ Lad the fight tied fy = 2 “Angung exactly as above, we ae that the scond digit tlle which ‘hiro these subintervals + her n-"That determine the ley me, HAPTER? THE QUADRATIC AMEY 79 righ thie of the neva determined athe pei sag, As abo, he ‘Soe ta theses Le hich represents the tail ofthe ternary expansion, i in thi ase no larger {han 1/9: Continsng in this fashion, we ce tat teracy expansions have 8 ize! relationship to pints ia the Castor st. Ia patel, fs has ternary ‘expaion fer whith wore etry sg = 1, then = st ain one of the dle third interval that was removed during the construction of. The only ‘epton to thsi i oan endpoint of thi intra, i which ate be ‘Sh aleraliveteoary expansion that bas no's whatonver, Thus We el fy thatthe Cantor st i the set of real uber [0 fos which there oraieyexpanion containing no = “We now ase why the Cantor set is uncountable, We cans pa corre spondence betncen points in the Cantor sta pis inthe interval 3] ‘follows. Givens © K, consider the termey expevion ofthat contelaz 01's. Then dange every °2" i thi expansion to" aad consider the sulting sequence a the binary expasion of aber e (0,1). For example, the ternary expansion of 1/4 OUA0202,. ne we maw hore So 4 © Ke Wernow associate to 1/4 the binary sequence 0.DI0101.- which corresponds wij “ee EQ ‘The coctespondence betwoon binary and terary sequences is cently onto ‘one sace we can go backwards just as eal: given a binary expansion of « ‘number ia [:1, change ll he T's 10 2' to et the tency expansion af & point in. Th weave proved the lowing ‘Theorem. The Contr middle thirds st is unconnsie [A natural question is whether or aot the Cantor mile thirds eet and ur dynamically defined et Afr the quadratic map ate esentally the ssn, ‘race homeamarpic. (Sue Appendix A.) We willsee thatthe ae, but we il use a more powerful too to show ths, Ths tol pmol demic, Wick we wil ious a Chapter 80 pywawscar sysrens Exercises 1, List the ntevs that are removed in the thied and fourth sage ofthe ceasiruton ofthe Cantor middle thirds set 2. Compute the su ofthe lengths of al ofthe intervals that ace removed fom the terval [1 inthe enstscton ofthe Canter ede ire 1 the net five exersss, fn the ratio muniers whose ternary expansion ie geen by: s.02121mT 4. oon 5, oo0eer 8. 02120007 Toonoimtr 8 Let Qala) = 2? +e with €< 2. Lat I and Ay be defied sin this ‘hapter, Prove that ie < ~(64+ 2v8)/4, then |@r]|> for alz C1 —aty Hint, Note cat |QL(2| > 1a all> 1/2, so 8 sullen to ed the cals for which Q.(/2) < py Dynamics om the Cantor middle-thids sett Th flowing exercises deal wth the funtion no=(X,, ese S42 e312 2 Sketch the graph of T and show by graphical analysis that, if > 1 o¢ <0, then TH) “ao arm oe 10, Find the Sxed points for 7. What isthe teraty expasio ofthese 11, Show that 3/18 and 3/28 lis on Sept for 7 12, Show that if = © (2/3,2/8), then THz) + ~a2 a8 0, 1B, Show that = € (1/3,2/0) or = € (7/0,8/9), then 7*(2) 34. Let P= fe € [,1]|7™(2) € [0,1 fo all n}. Prove that (Castor mide thieds at. Ky the 38. Spore 5 ET hes enary expansion O.s0208... What the teaaey ‘expansion of Ts)? Be crea thre ae two wey sierra ‘maprers Tue quapaariceawiey 1 ‘The Logistic Map: The flowing exercies deat with the logic mg Fie) = Sa(l ==), 16, Prove that Fx has at Inst 2 period points of (oot necesly prime) period mia the interval (1). 17, Prove that iz > 1 or = <0, then Fe) +20 a8 nce 18, Prove that if € [031 FR(2) f+ 20 a8 noe 19, In au ety, decrbe the dyaamios of F, when > 4, Inthe essay describe the set of pints whose abit tends to oo. Con gou Bad 2 vlog fee which |A(z)] > 1 fe all» who cbt docs wot eecpe? 20, Consider the function S(2) = rains. Prove that $ has at least 2° petiodie points of period mia the intra, 21, Show thatthe faction Ts) = of ped min the interval [2.3 =e has at lest 3° pecodic pointsCHAPTER 5 ‘Transition to Chaos ns previous chapters we have investigated the dynamics of Qs! « 3-4 ft length. We have sen that for eal above 5/4 the dynamo is fueton ae quite tame: On the oer hand, by dhe ine seach 2, the synanice become much move complicated. Our Bo! In sis ana the noe few sections isto understand how Qe and ater smile feeion make the teanition om simple a conipheated dynamic. 8.1 The Orbit Diagram 1 thn setin, all of our werk will be experinntal We wit tke © seve of ebuervations bse un emptor tage, We wl spend mio te fest ofthis book trying to explain wa we hee ee hue ‘e will det ere with the orbit dagram. This tage is ou of the ‘ost instrutive and intricate iesges nal of eymicalnstems, Tho obi Ainge san attempt tn enptuze the dyoamie of for ey diferent ‘aloes in ne etre. The rest goes gua suey ts dynos oF he tie fay a wll sn en f fh rake rast cae 1h the orbit diagram we pot he pacanetor cant hwo ness le eermptotic erkit of O under Q. on the serial axis. By symp sbi we simply rien tat we do ot pot the fet few teenie (ely 109 06 0) of 0. This lions te ori to sete dwt aod ren terol Hbacn {his we ean ac the fate ofthe eb Dy not poting the Set few rt weave elated the “trae behavior” ofthe ei For the orbit diagram of Q, we iitlychooge the parameter «in the ange -2°S'6 5 I/4 since, as we will we in the pent two capac understand the dynamics of Qy completely when ci outside tis itera, ‘Wo pot the asymptote ort of 0 under Q, onthe verte! ine over © A swe know, th erbit of 0 tension the inter [-2 2] for thse elie, {the cordinaes on the verti! ae run from =2 to 2. The program ‘scents th orbit diagram of Q. i tad in Appwadix B neal, tis ithe pietute you omputed by hand in Experiment 64 ‘A natural question is why do me ute the ert of to plot the abit ingren. We will ee the fal ssiwer to thi uation io Chapler 12. For ow, weep note that Os the oly crite plat of Qu Denton. Suppose FR ys R.A point 2y is critica! point of Fit a) =O. The eal pint ses nondegenerate if (oy) 4 0, Older, ‘he eal pin ie deenerate, Fox example, Os the nly etitizl point for @. dite nondegenerte Simi, 1/21 te ony eritieal point othe logistic uneion P(e) = tl, 2) (provided 1 #0), andi too tn nondegenerate. On the ites head, Hla) ==" has a degenerate criti! pint a6 as docs £* In Figure 81 we have displayed the fl orbit diagram of Qe. Note that for inthe range =3/4 € © 1/5, we ae exactly one pot on the vette! line over e. ‘We know why thie happens for these conus, the ee of 0 ' atracted to an attesting fixed point, and thie wage point coscesporde to this Sse pont. Note that this portion ofthe orbit digram is cxaelly {hs nme a the Bfereation diagram itruced euler. As elses blog ~3/4 wee pecod-dobling bifureaton: anew altsecling ceo ped 2 Isr and the two poinsin the obit diagrams above thee pots correspond {o this eye. Note tat inthe obit diagram we no lager se the scpeling xed points we doin the tfareationdgiam. Thi 6 one of the aie slieences between these two images. Continsing ta decrease we seem to cen succosion of period doubling. In Figute 2 the portion ofthe eit lingam inside the rectangular borin Pgute 1 is mage, and Figures, 3 4nd 84 are sccsive ragnfeatons ofthe rectengies i the peeons Fgutes. This eae to ou fat chcrvation. Observation 1: As © decrees, we seem to see 6 oeceain of print Souing bifurcation It aera tt perndc points fot appr i a oder 12,4 8,00, ‘Note the large vertical white region fr tothe left in Figure 8.1. If ou Took closely you soe that this selon isnot completely white but ratherrosie ty thre tiny blak elon a the top idle, and boton Ror this ‘reson his eon i called the period) window. In Figure 99 ths window | maghied. Wo we enly what appenrs tobe an attracting 3c: wich then seems to uadergo «sequence of period-doublingbluraton Figure 86 shows the central portion of thie window magne ia make he pea loublings plainly visible. ‘There are other windows visible in all of these Fuces.Magnifaion of thse windows alnaye yield the sane pssieg evil me sera to sea iil periodic erie of some period flowed by ‘Succi of peiod-doublng Ifarcstions We ell these selon esau wiodaws Observation 2 Is ech periadn window, we sem ta sr the epparonce of ‘onatsctngn-eelefollovel by © saceson of prit-lobling heations One vey obvious feature of the magnifntons in Figures 8.1-4 isthe similaiy ofthese mages. Neglecting or the moment to at thatthe siege uve in the righ of ech pitue eepresete pric pit af peed 1,2, ut respectively we ee tat ths nage ia thee ucesive negli ‘re quiittively the sme. Note the appearance of« “period window” to ‘he eto ach age. Observation 3: The ert disgem appears to be alfsimiler: when we ‘magnify certain portions ofthe pitas, the reuing ine lees «sting semblance tthe erin fae (Of course, the words “striking eeomblance” inthis obeeratios are not ‘ory pecie ina mathematical see. We wil have to destin: is oton ‘mote filly Inter. But for now, there enn question tat chit agra Possess steking amount of vlna Note that the cures connecting wht appv to be peioieebits are continuous ae vasier “thet cers nravrsddenly jue neato toe ‘istence of another aitracing epee. That fy foreach cal, i appears ‘hat heres at most one ateeting eye. Of cous, snce we only compte cone orbit foreach evalu, there may be other senclng ets prot et ‘we donot se since Os tot sttracted to them Nevertheless neting "ato jumps ecu among the ptiodic eyes tht we do oe sm ds appears thet there is at mont one atacting“yle for Fp. 45, 67h pad 3 wind fr Qc ands mitFinally, note that ther sw age proportion of eal fr whch the obit of O doce not seam to settle down oun aiteciogtyle, Even if we inerese the numberof erations av well ar the numberof erations sot Pisted, hs eine ono ute ge Thi ther mp of le ‘behavior. aa Observation 5 pz that theres lege at of cle or wih the orbit of 0 is not attracted te an attracting cycle, ee on i ts eae Raneee etemiay aee aooes moe athe Bene pect reenact a4 iy Fle) == cuaprens Taavsinon 70 cusos 89 8.2 The Period-Doubling Route to Chaos ‘Orgel in this etion ito gives geomatee reason for sing a iii sequence of prod doublingsin the obit diagram. We wil give amore ine ‘explanation of thisin Chapter when we describe Sarkovskis There, ‘Gur methods hee ovlvng ucssive magieation ofthe graphs of @2 rms clve tothe iden of renormalization group analy from heoretcal phi. Tn Figure 68 are potted the graphs of Q, fr sx diferent cxalues In ach cae we have superimposed’ a square the graph with vertices al {pwned end (-pe,Py). Thea diferent evalua chen eribit dynamical [lee that weave alten sttie, namely Saddle node bifureaion plat. 1, Gritia point sie. © Pevod- doubling ifreation pont 4 Grit! point hue period 2 Chaotic eval. 1 Cantor st eae Figure 69 ehove the graphs of Q for ix diferent cluee These ver ce to the sune as thon in Figure 88; however, noe the potion of the (rape aside the small boxes. They resemble vey clsely the corresponding Dowtion af the grap of Qin Figure 88, only on s nc smaller itera [Fate pein rocll that the lefchand Bed pont of Q, denoted pom he erphof Qs wes tha there isa pont to the let p- that ie mapped ty Qi to p.. Call this poit q. This isthe point that ie onthe a-axis, vet show the lefthand edge ofthe boxes in Figue 89, Then Figuree {88-0 show that there ir mresmblance betreen the graphs of Qz oa the Sater [pagel and those of QE on (gp) In pastel, we mould expe the function @2 to undergn asim sequence of dynamieal behavior on thi intra as Q don the lees inter. Compacing the smal portion of he ‘rt diagram in Figure 8.2 tthe whole dingram im Figure 8.1, we se that ‘i indeed appear to be the ese ‘Now conse the gop of Q restricted to [qp=}. Since these grape ‘ach ome one of the qoadratic functions, we expec ily second Heute ‘othe sal ftervel to ook ie the srond erate of one of the ginal ‘uadratie functions on [py Pel, Te particular, there should be a small fuinterl of [rp-] on which Qf look ike Q..'As e decreases, we would then expet Q!toundesgs the se sequence of bifurcations on tis smaller Interal a Q! and Grom the larger itera. Figure 83 bees this outYee i- RS“Thins the beginning ote procs calla renermalstion. Atenc stage ofthe procs, we consider th second iterate of the map the previous ‘Sage and then 220m ia on sen subiseral on which the map reales ‘ quadratic funtion. At the rth stage, we find cy subinere! on which (QE resembles the eignal funtion. In particular, ase decreas the ere sf the QF make the tunsion fom a wddle-nodebfaretio actualy, fs is peciod-doubling bureaton vewed fm one id), though period Aoubling, and on ato the chaotic regime. This secount forthe fat tha te ‘tit diagram fates regis that ace apace ef ier 8.3 Experiment: Windows in the Orbit Diagram Goal: The goal o ths experinent is twofold. The fst cnt efor yo to se the rematiabl struts and pales that ocr i the bit diagram, ‘The second aim ist investigate the snares and diferenes betwen tes typial orbit diagram, far the quadratic function Qs) = 1! +e and the logistic function FK(2) = Az{13), Real that a ped kwindow i the obit dugram cocaine ofan itera of acerca for hi we id ‘ini atteecting period cyto tgeter wis al of is peros dvting desendants”” For example, so the big pcre! the quadratic family's cit diagram, we clay ace period | window aad pried 9 win Remember, period” bere sane the period ef the attracting rit before begins to period double: Soe Figure 610 Procedure: The objet of thie exprimeat eto estalog «quer of smaller Wwiadows inthe orbit dingrams ofboth Q.(2) =="+e and Fs) = he(l-2) Clery, the pecod-1 aad windows are the snot vsble foreach of the ‘oo fails. Now muagefy the region bein thse two wits ft the ‘quadratic faily. What do you ss? The two largest windows nt ly of etiod and This isthe “sxond generation” of windows, Thee ae lier esaller windows vile, but we recard only the two widest windown at his tine, We wil reoed ts a follows Quadratic Generation 1: 3 i GGonertion 2 3 5 6 ! Note that we put thee windows in the sight onder. Now go tothe ext geeration Find the pecods af the two "tcpe” windows between the caarrens Taaxsrrow To chaos 99 1g 430 Windonie he tit agama, peviodt and window, Cal these perade A and B. Then fn the perads {tthe Incest windows between the period and -6 windows, Betwacn the Period Sad -5 windows, tere should ely be one largest window, so Ba ts Period. You sould thu be ble ofl in thie chatty supplying the periods [ATE which repeat the peri ofthe Inegest windows inthe eer gies Quadrati anetin Gawains 3B 5 De 6 BR At Now proeol t gonsion 4. In thi care we wil ind oly the Ingest rindows between the pesiod'6 sad peri “1 windows fund in the tied ence, nleting the windows betwee peiod 6 and period By petiod B {td prs A, st lly period A and plod 2. Th largest windows ave Dias ince it the ellowing sha undratie fnetin Genertions 6 eB yk94 pywaacat sysreus Notes and Question: 1, The periods ofthe window noe the et ed of this cnet may be a Jaden els ‘ou deat nen to spn hour ng to ure ot ch window biggest Jest eel Als, you trap have fs magia Indvidan window a rr sad of the psd ve 2. Do ti for bth Qs) = 3? +e nd Fs) = A) and then compare our clasts for both of them. Are toe tay ditenca? hay ae Wie wshoet paragraph about the 2. Ie there a patra enable (spel ear the prada f your chart)? What is it? es 4 Using this pattern, can you prodit what the petod-t end ofthe st at fencration 5 will be? Perhaps fom the period tothe peiog-A maou? 4 Thoaght qustion. Do you se the “dake” curves running though the omit diagram? What do you thnk they eepeesent? Exercises For each ofthe flowing function, modify the prgenss in Apgentx Bio fompute the corresponding arbitdingran forthe gion A ands viene Be sre ots the ete point that hs in the gen interval fo pt te 1. Sie) = Ass), ISAS R02 Sx 2 Cus) = Acons), -20651<0, ree ee 3. Ala) = Me— 2/9), 5309/2, 062 5 VB. ‘The following execs des withthe fit of fetions Cy : end). 4. the computer to seta he otis den or 1 4 Deh ee ‘using 0 as the cntucal point. Describe what you sev a 5, Brpin the dramati biaration that occurs mt A = 2.96 6. Explain the dramatie biftesion that occure at.) = 4.2 4. Wl Mgpensif e wethe tpot edo e it diagram? Why? 7 8. What happens if we let > 2"? Discus other dranticbifweatios that. CHAPTERS TRANSITION TO CHAOS 98 ‘hen no eas dn withthe any fntons At ~~ 25) Um te computes to sac the eit gran fr 0 < X < 16 and Oc 2 wing} 428 = O80, te el pol. Desa wat 10, Using the graph ofthe fenton, epan the emai raion Bhoem a So ‘The nex three eerie del with the family of tent nape" given by sec} wcete ersi. nioe{ 11, Use the computer to sketch the orbit digram for T; foe 0 < e <2 ‘Use 1/2 ar the "erie! point,” sine thier the poe whee Tye nom (ilrentinble, Decsbe what you se 12, Beplain the deamatic bifuraton that occu st. 15, Why do you not aes any attracting eels when 1 £0 € 27 Allo the following exercise ace sell exay questions. In each ca, provide [raphcl or umetealevdecce for your sacwer, 14, In the onit dingram in Figures 8.1 0 86, soc hat there ex emear sear each point where a bifaretion oor, What causes these set? Te [sje to recall the seule of Experiment 5 6 hee 15. fo Piguee 511s potted the orbit diagracs of the logic function, Tnsiend of using the ectiealpoat to plot the diagram, however, we sod soother inl sce zy 0.193.~_, Noe the change ia the sngran you explain what har appeaal We wil why this doesnot secur when ‘new the eta point in Chapter 12. 16, In Figure 8, note the sudden appearance ofthe peiod- cycle an ite ‘iadow. Explain why this window open sudenly 7. tn Figure the period window seo loses abruply, Eapin why the cerhit of Oruddenly occupier «much Inger ater! te peo 9 window Sloe96 byeancar sysress 1 In all ofthe orbit diagrams, there are ome very abviows darker “carves” onning through the orbit diagram. Explain what thee euvee sees Wy does the orbit of @ sum to accumulate on thew pnt? nt: Compare the histograms fr various elu tothe sce of the orbit diagram for the ‘tesponding es. Compute the orbit gran wing only fe poison (he orbit of without throwing sway aay of thes polit CHarrERs srupouic DYNAMICS 9 CHAPTER 9 Symbolic Dynamics In thi chapter we wlintroduce oe of the most powerful lols for wade soon the emote behavior of dyna ystems, oymiaie dyn, We ‘il convert the complicated bao tht me have en for ceean quae {le funetions to hat appear at fet to be completely diferent dyamicl system, However, we wll cc thatthe two systems are sally the sume ad that, more importantly we can undertand the new spear completely ‘This chapter is more theoretical than the peseding chapters We i troduce new leve of abstraction iavlving a "space of sequences and 6 ‘tapping oa this space that wil ater serve as novel forthe quadratic ‘naps. We will se inthe next section that thin abstraction i totaly jut fod when we show tht iteration of ur model mapping ena be compitely understood: This in contrast to the quadratic cate which espe 0 (ea wth alta 9.1 Itineraries In thi section we wil deal exclusively with a quadeatc faction Q.(2) = Ste whore c-< ~2. Recall that for sch a funtion all of the interesting bynes ocutred on theaters T= [=p Here pi the ed pot erty Luvize) 4s his interval there i subineral Ay that conse of al points that leave under ene iteration of Qc. The at A ofall pats = € 1 whose orbits never leave I therfore ie in I~ Ay. The set J—Ay coil of two cog intervle98 pyaar systems a we denote by fy andy with ft the ft of Remeber tat both J, {bd J stully depend one for each coc 2 thee erase aie sod symietsically fated about 0 Any point in A hae an ort that never leaves T and hee mins fr a itertioos in Zu fy. Soif = € A, QF) To hi for each n. This allows sto make the falowng important deisiton: Deflation, Let x € A. The itinerary of = ithe insite sequence of Os end Ye given by Sha) = (6082-9) hare 3 = if Qe) € fd 4) = 21 Gils) €h For example the eed point ny lis inf fr al iterations, so py as the iineany Sipe) = (LL). Scythe evenly ed plot pe has itineray (ps) = (D131...) Note that aay pesodie pat haa itinerary that «repeating equcnce, A more gener ineracy a shown Figued 9.2 The Sequence Space ‘To st up a made ys for the dyaiics of Qe on A, me ned to have s spee" on which the dynamical syrtn tas place, ati al f the previous systems we have discus this vel ster will not tele place fn the real ine. Rather, it wl ta place on 4 suuch moe obtate spce Called the sepuence apse Definition. The sesence sist on two symbols the et cuarrens srmmoucpyeawics 99 ‘The act ¥ consi ofall posible sequences of sand 's, Tht iy ele aeats of Bac sequences not numbers, For example, (000), (010101), {foto} and (11. ) ae ll distinct element of eae ging toy ta werk geometrically withthe space , That nea swe have to know what ths space looks ke. At Sa, this may sound like a0 TEatsisble goal Aer all the elements of are requeoes, ot numbers {iat Bt conveniently on line or poits that live in the plane o thee ‘Emensonal space However, we wil see that with a tle metre space ‘ory, we con actualy develop metal iage of what 5 looks ike Tov begin saber oaively, Suppose we ty to identify ar some subnet ofthe pane, Who laows what © would Took like im the plane? Maybe = {angle ort aquare or even a banana. Whatever our pietre of is, each pint” im Z mut be soquence. That iy abstract, we should think of Aheentre sing of digit omposiog a equence In a correrponding to ose pout inthis pete, Peshape Bi the nage setched in Figure 92. an, Ton each pot inthis apace? mist he a mquence of Os and T's and tw {stoe pute shoul be two diferent sequrnce, a indented in the figure on.) (01001) ‘100.9 oo. ou ‘We shoud ale beable to secogsie otain subst ofS. For example, My={seBl=0) cooits ofall sequences whose aezoth etry 0. I commplemant is Mi seB|u=1)100 prvawicaL sysreus Roughly speaking, My and My divide Bato equal halves, perbape ae de- pete in Figure 92, Sine Mp = 9 Blas =O, 41 May = {6 B29 = 0,45 ide My nc egal haves as shown in Figure 94. 2 (cove) oo.) oo...) ou Fg. and sch xy ao = 00.3 0101.) Me My 94 Ny ad yeh ny bo teow given at wh (be dion of 1) we al ‘aves uy ny flowing at sink th Whe ‘ted ce my dang wen vo pane ci gs ‘ny apart That in eed 9 way omens de bette to eal o pati th nscale ee ls mio he at Now thee etapa oP nee et ‘jt nel whe hve any ap mae dang Sek 4 leet ine dane btoen two ps (nthe ae Be} an cuarrens svmpouc pysawics 101 stance betwomn the same two pointe ne deplayed oo a ers odometer. We ‘Boose ta put the following metric on. Defoition. Let «= (sete...) and €= (Wtita..) be we plats ia. The Potence between sand is given by a ‘This may lok ke a complicated expen, but tis fen nny to com: pute or evanple t's = (000.~),€ = {Ill-.) and u = (030101...) Thea rs ote that the sein defining di] alwage converges Inded «and ce ach ite OF 1, [yt = Dor 1. Therefor, this sere is dominated Ty the geometric series Tey/2), which convenges to 2. Thus the frtest ‘yal any tro pits in Emay Be in uit, inthe ist example above, Defition. & function dis called n metric on set X ior any 2.2 €X ‘helllowing thee properties Ble 1 yy] 20, and diz y| = O5F and only f= 2 dis) = da 8 digs) ap. ‘his completes the prot ‘The reaconweiteodaced the mtd was to decide whe two amuencea nS were coe together. The next then sees this a, ‘The Proximity Theorem. Let x,t € Band ssppre s © t ford = Qian Men dS nae ane ten, Prool Wea tft # then aoeBbcal, $ be $ kw ea ee tats Eek CHAPTERS sywaOLIC DYxAMICS 103, (nthe other Band, i 6 for seme Sn, then we must hase i aay consent, if et] < 1/2 then 5 for Sm In words, tno sguce ze asf hei st few ences agree, We et aranos tal two sores te within 1/2 ofeach ther thie fet ites are the sre “Tis ropostion show hat ou ive pctore of in Figur 02 to ie wrong. Fo oun ay ptt Mg bt at Tut a ov ay Yointin Afsinc the lal ae of hee squeegee Stat, Ip pin yet beat est 12 ot ay rom pit (se Figure 98) Continuing nti fron, we sett oo ietae of Ext. ‘eica uy planar teensy tsk tapon mont crt be sbdiided Sto intnicly many dnp ptces, This i, of couse, reminiscent of the tealy diconosed Calor at we eaantred prevouty We wil mae th elgy pres ate. 100109 a 001-9 9.3. The Shift Map Now that we have the spice that wl be the sting for ot model dy snail sate it tine To etoduce the model mapping el. Thin he ‘if ep 08Definition, The sift map o: B+ Bs dee by olson) = (6808-9) ‘Tati simply dope the at entry of any pont a B.For example, o(ot0101...) = (109010...) (001010...) = (010100...) (orm...) (nt... iy oiteteo— vein contin eopng ding ia 1&5 we iterate, That is, e ‘esse Mower) = (e804) ein ‘This makes i ney to find the sequence ofthe fem (Cutestsena Poe polos of, I i «repeating (686) sect60 staat) «ES, {inno = x Convent sy prs pint of prod nro ns 4 "epeating sequence, For example, he only fed pats for ace ton 1d (111...) The pied? pont are (010101) and (10L01D ad couse, © maps one tothe other. There ae twa gees foes pec” (I) + (OT) (100) (6) (1) (TON) -+ OTE) (TTB, ‘thea repeating it ad infinitum, Recall that it woul ly ith todo sft ante map hii a cae hee a ‘such simpler mapping to understand, ae capTen® svamouic DYNAMICS 108 andthe ke, Nevethley, te its mare familia counterpats i conto ‘os fuetion. Tose why this rv, we anno! toe the simpli defiton ‘reontinaty often gven in ealealus courses ("you can draw the graph ith ‘ul ling your pen"). Rather, we have to return to dwt pecple and {foot the theoretical deeton of conto Definition. Suppone PX —X ia function nnd 2 i set equipped with mote ds Then Fis contnuons at zy © X ih for any e > 0, there 2 ES Ouch that, izzy) O ao mater how stall, west ‘beable produce a8 > O such that, whenever x and zy are within 8 units cf each other, thei images are close together than ‘This defition of continuity is one of those extremely compliated det initions that often drives students mad. So belore proving tat the aif ‘map is continuous a all pints, wel give» simple eample ae a warm-up. Lae bogin by showing that oa continaous atthe Bxed point (0000.-) ‘To prove this we essue that someone gives ur an ¢ > 0. Out ob i to fads 6 that “works” By this we mean tha, ies ina soquene in B with a (000.-)} <6, then do(),0000.,.)} < «Now we don't now which Sequences in 1 have images that are within an arity of (0000), {ut we do know thor that ze within 1/2" of (0000...) foreach nAad that will be good enough, as long as we choose so that 1/2" <<. So see mus ir 6 tha guarantees that dlo(soysa (0000. $ 3/2. Bat that's easy! By the Proxnity Theorem, the only ay this can be true i ita, = Ofort = O12 m4 1 Thoeore we choose & = 1/2" If Asis .0000,. <6, te ol sosse)y(000..} = o.ssy} (0000. $ 1/2" < ‘Thus we have found a6 that works "The proof inthe general ease isnot much move diel. ‘Theorem. The function o:8 + is continuous et ll oints in E Proof Suppone we ae given €> O aad = (sn489..)) We will show hatSipe € > 0, we may pik m such that 1/2" < e. We then chose 6 = 2h tee isn pit in Band dy] < 6 thea by the Proximity Ten we rust have a) =f f= Oly Entfnstnns Now o(t) = (4s teiteetnga) has entries thal agree ith thse of (8) inthe Set nf I spats Thun, again bythe Prociay Theor ols). o(0] $12 p> 1 faeall¢ € Je U2 aod some p. Now consider the Taal gh Poe cad n,Q takes interval in one tone fashion onto asChOeGN). Bats awe saw in Chapter 7, the Mean Value Theorem ope thet length [Q6(2) Q2(] 2 a" eth oh Sins jc, we haves contention vols = = Ontos We ft introduce the flowing notation. Lat J C I be « cloned later Let ed) = fe € T1aH=) EI) tn patil, Qc¥(J) denotes the preimage of J. ‘The main observation bat it CF is eloedinterel, then Qz4(J) consis of two coed fbloterrl ne in fy and one iF. (ee Figure 9.65; vo consult Appenix rey "Po Sind € A with Sz) =, we deine ren = (2 12 € Fs 8) € fre QE) Ei Since 5) = Dor 1 for each j the net Ze ell on of fo o fy depending ox ihe dig sy, Using the notation above me may write Ions = fig QE (En) --- QE".to prwanncat sesreus deed inten nay and ene For any pir ointeral Asad B, we ave (ane) AINE), ‘Ts we may als write me Bee" (Iy 0 F Inga) M3) ‘We chm that they A closed inter that ace nested. ley yg isa closed interval. By induction we assume tbat yn a loaded Then, by the observation above, Q= lx) cans af x pao aera, one it fy and one inf To either eves ing Noa oe) Single closed interval "Those intra are need because Tuna 88 Frc ~ ages ORE) apn ‘There we conclude thet Dorn ‘nonemply since nested intersection of ch intervals always ponempiy. See Appendix A.3 fora discussion of this fact. Note at if agate, hen 2€ fps Q{s) € fy nds forth, Hence 52) = (oes last Seale hala | cHArreRs svupoucorvawies 111 Iocidentlly, note het Measinan consist of « unique poi, This {allows smimediatly fom the fact tha Sis oneto-cne pail, we Fave that in yay “08 Continuity: To prove tht $ i continuous, we agi invoke the thoes ‘Sinisin of entity given above. Lat # © A'and suppose that S(t) = Steist.- We wl abow tht $s continuous ats Let eo 0. Thea pick tao that 1/2" < «Consider the cow subintervals ys, defied above far al possible combinations tty ty Those subst ne all ijl tsi A i cootsnad in ther ion. ‘There ae 2" such subineraas aad Thuy 086 of ther. lence me may choowe 6 nach the le gl & and VEN Tmplie that € fg. Todo the we sly choo 6s rl tt the interval of length 26 centered a x overisps one ofthe Tha with the ‘xcption of Tg y- Therefore, S(y)ngrese with S(2) i the fest 41 {Sim Hence, bythe Proximity Theovem, we have ate) stv ‘This prove the continuity ofS It iseasy to check that $" ils continuous Thos $8 hocmemorphion Bxercises 1. List all ples of prime peo 4 foe the shi np, Compute dt] wher: 2. e= (TR), t= 3.6 (1H), t= OT), 4.22 (07), e= (01, 5. Find all pats in B whose distance fom (000...) exactly 4/2 6. Give an example of equance midway between (000...) and (M1...) ‘Gye a seeoad such example: Are thee ay ther sich pe? Why or wi 1. Let My = (6-6 Sl 0,5) = 1) and Mins = (8 € Ela 62 = 1} What i the nimi distance betwen 8 poit Moy nd 8112 bywaaaeat sysreus int in Mini? Give an example of two sequences tha ae this ove to. at that are hi lowe each 8 What the maximus dstace bits » pin a Moy and pit in “Mort Give as example of wo sequins that aretha spat 9. Let be the tnerary map as defined inthis chaptee, Prove that if € ks period under the shift map, then S™Ys) ia pred psa or @. ‘with the seme period. What happens ise eventully pest? ‘The N-shis ‘The flowing seven exercises deal wit the atnlog ofthe shift map and equece space for sequences that have move than two poise easy ie space of sequen of spol " 20, Lat i denote the space of sequences whos enttes ae the postive deem O,,.-VN yaad lt oy be he sit snp on ys Forse eBay esloa)= $8! Prove that dy ia metic on Ey. 11, What fs the maximal tance Beson tno seqhonces in Ey? 12, How many fed pit does ay hve! Ho any Daye How many ‘eycles of prime period 2? : 18, How many pointe in Dy re Sxed by of? 14, Prove that o4: Ey -+ By is continuous 15. Now defoe ion) = G9 ioe ty and (et) =1if 9 44. Prove that oy Sabo 16. What isthe maximum dttace betnccs two pointy i rece dy ae? hes the 17, Recall the faction roa, test Bo: tesa cuapteR» sywaouc DYNAMICS 113, twa diese inthe nercinn a the eo of Chapter 7, Thee we proved that P= (= € [1}|2°C) € [sl] for al n) as the Cantor middle thee fet. Now deine an sineensy funtion 5:0" where Bs the space of Sequences of 5 and 1's. Prove that Sis a homesorphien. Remarks: 1 The above exercise shows that the att A for he quadratic map and the Centor middle third se are actually bomeomorpie fr they are both bomeomorphi to 2 Wenow have two infinite sequence attache to each pot inthe Castor bet. One's the ternary expansion of # aod the ober is the ineray of =. It i tempting to sok a teationhip between these two sequencer While there is relationship betwen them, is by uo meaos vious. For example, the Pot 1 hae ternary expansion 0.222... but (1 > 16, Bach of the flowing defines anction onthe space of soquensts Bla ch enn, decide f the given function ie continuo faa, prve Tf 08, clan wi 3 Foie.) =(09212.) © Gtinen) = lowe) © Bloor) mnie) 4 Sonne) = Gains) we 35 Lis ou . (1 s){t~ a) £ Leas ) & Moss sins) 1B. Nlonsiass) = (lias) wbewe fa, t) 0 fay bons; even and Posen.) = atta.) whe Otherwise, =. 1. Defie a diferent distance fonction eon Bb da] = 1/0841) whore ‘is the leat Sod for which sy #t and s,s] =0. Ise mete? si tecetay mod 2 That Tifay to, is oda te ths i exitCHAPTER 10 Chaos to this caper we inoue the nto fas. We wi how ha ‘here ae any gna sneme tat ae sani st ae nolan civic andr i de then oe at ‘Si ttp tod ten tres pra cca, ncn ee ‘quadratic family, a 10.1 Three Properties of a Chaotic System ‘Thro ate many pnb definitions of chon Infact there i ao general agrocment within the scene community ato what coats «those ‘amie system. However, hs wil ot deter us fom eferng ov poste ‘fio, This dition has the ndvatage tha it may be rendy vered Ine number of diferent and important exanpis, Howerer, you should be forewarued lat there are many othe posible mays to eapare the eee of chon "To describe chaos, we neod one preliinary natin fom taping, that ota dowe set Definition, Suppose X isa set aad ism subset of X, We sy that ¥ ie onsen X ior say point + © X, thee lem point y ia themabnet ¥ biter dove to =* ‘uarren19 cHaos 118 Bouilently, Vis dene in X ifr any = € X we can fad soquence of pet foe) € that coaverge to = For example the ret of rational pier is dese ia the ot of el urbe. So sth eubset consisting of Satie uber. However, the integer ate fa rom bring dene the 2 Pulte opea ttre! (6,8) dense Inthe cose tera “fu prve thet a suboet VX in dense X, we us exhibit soquence pits ¥ that converges to an arbitrary pol in X- For exemple, to Sede atthe eis! muster ae dose in, we must ind a sequence of Peale converging to aay fratonal. For instance, i te irrational is V2, cece of rationale converging tothe amber 11414148, Io the general cas, we begin by sling an arbiteary real aumber . If Fenton thea me are done sv we stute tbat 7 is rational. This ens {hats hasan ifn decimal expansion ofthe form =n. seobibabs nba theo ad 5 ee digits ranging fom 0409. Now, fr j= 12,8. spe ay ncaa Since ay basa faite decimal expansion, x ¢ retinal number. Cle SPS Has sc. So we have fund sueace of rational amber that davrge to 2 This proves dest of the eetinals Ts terpling to tin of denae eee os being relatively large asset ofa gven se. This te in the sense hat there are points i this vubset (Sbitreiy cow to any siven pont im the Inger st However, dense et funy somcimes be sal Inthe nese tha it coataios nly countably many ptt he example of the rationals in heal how, Tee is anther way Uo which the at of ston, thigh Ae cease, Let Rb he bet ofthe terval (1 hat consist ofl cf {he rationals in [1 Wernay lt allo the element of One such iting * yigigiggad odd Bed Now let be sll. Consider the intemal of lngth about the nth element Jn the soove list The anion oft of thveiteralei eenly an open et. Te intersection with the oterel[0,3] i Sense since i contaiog a of therationale. Homoves, the total length ofthis et i mall Inded, the teat Iingih i ven by hice snall whens vey al For example, he total Length of hia 5 1/00 when e= Oot "Nom let's aturn fo investigate the dynamics of the sift map on the sequence space. Our fst observation about the map i tht the subst af tat conse ofall petiole pont in ea dense sue Toso why thin iste, me must how that vn any point += (sea), me ean Sd ‘psd pola aster else by. So suppose we are given on > 0. How ‘doe Bad» peioic point within « unite of «? Les choose an Sateger m other 1/2" Ce. We may now write dows sx explist period pol within L/P unite of» Let ty (95.0 -#n8007 =). The fest n+ ents of ‘ata he sume, By the Prosnity hoor this means that. dome dece but sa pig ea sd i pa it of pnd .- =—_—s—s—_—[ patie lp neta toes See "eu ove of yt ise, ee ag eh gia ric nce we ely rine ol ny el Sistem Sys pan ccs ttmeing opty a th iat oC ——— SOSSTSLE LS panitmce in Sn ner ‘Somes Ctr pt (91 oor ys goooni., In words is the sequence which consists of ll posible Hocs of 0's and 1 of length 1, followed by all och blocks of length 2, tea eng 3, asd 92 enh ‘The pint & has a orbit that frm a dente subset of To se thi, we sin cows an achtrary = (gnte..) © an an ¢> 0. Aga choose n cuapren iy ciaos 17 so that 1/2" < e Now we show thatthe orbit of & comes within 1/2 site fear to te right in the exproion fr 8, thce iw block of logth = Shel coomns ofthe igs say. Suppoe the eney ai at the hth place Bihcrequence Now apply the sb map f test, Then the ret mt ‘ce of ot (8) ate preily any. sy So bythe Proxinity Theorem, seo ch ee ‘There is » dynamical notion that i intimately relate to the property of ving dense obits This the concept of tensity. Definition. A dynamical stem i rmsito fr any pal of points «and paral any ¢ > O there Isa third point + whine of 2 whose orbit comer vin fy nother word tractive dyoanscl system has the property that, vce any to pois, we eat ind an ort thet comes ashtray eos to oth, Clea « ynanical pte that haa dene obit isang, fr the {enss bit comes ray cloe tal pont. The faci that the converse polo trea enasitive dynamical oystor has a dense xb.” However, we Sal aot prove ti fst hee sine ues an advanced es fram eel enalpis Town asthe Bare Catepry Theor "Kuki property exhibited by the sit wap ix sensitive dependence on initial condone, of sty fr shoe Definition. A dyoamial stm F depends senitinely on ntl conditions iP tber isu > such hn for any ad sy €> 0 there iy within of Panda ch tat the distance batwean F*(2) and FH(y) sa est 8 In this defiition its imporian to understand the erder of the quan tiger. "The defniton says Ct, no alter which we begin with and no Iantier low sulla enon we chose about, wo can always Bnd sy in {his sogiom whowecctit eventually separate fom that of 2 by atleast 9 Morcoer the distance 9 i independant of: A a consequence, for each hel ine Con er But ited ot be ton ean “pope? Hs18 Drtawcat sysreus Edward N. Lorenz ‘Bed NL (107) bene ica 9 ate. Iter ha enon to eo. BS ig ‘ethene cng eer pee ‘Sage empl ae ey tie ad Sete St nay ci i wen rt a even emp oi he SS the sey of the slo ie 2 there are points abitealy necby whove obits ae eventuly “he” fom Remark: 1. The dation of senstiviey docs not rue that the orbit of seman {se trom = forall iterations. Wr only ned oe pint on the ori fo bef {fom the eoresponding iterate of =. 2. There are ther poole defsitions of estive dependence, Forsaample, one common destin rquite that evtainnenby obits diverge expen Waly That nit i somatins required tht the datas betwenn (2) and (3) grow like Cp! for ome > 1 nad © > (at notion inthe tay of applications of dynamiel yen Ka pation system posses seaitive dependenc, then fr all praise purpes, the ‘ypanice of thinset defy numeral orputaion, Small ees a compu tation tat are introducnd by oun tay throw ue af the intended abies ‘Then thae erors may become Mngufil pos lestinn. Als. w alae appease el fe ystems, we can heer know th enc il pt of ot system no matter how many digo accuracy we use. Ae coseguene, we say be looking at an orbit that eventually diverges fom the eur ab we cuarrer 10 casos 118 eck: Therefore herent of mune computation ofan orbit, no matter Hot accra shay beat no venriblane whatsoever to the tel eri ‘Example, The funclion C(x) = cons poseases no censitnity to initial Beijos whatsoever. Indeed, a2 we sain Fig 4S, ll ote of C tend se reting bued point al OTOODE- "Os the other band, F(=) = y= re Mtastive dependence a 0. Soe Fig, 42. Although O's «fixed poa!, ba arby ptt hae orbit that testo the attracting Ged pot at 1, carer swey™ On the oles hand, Chere is na sestve dependence {he interval D> < co ‘to one tha the sit map depends sensitively on iia conditions, we sect f= 1 For any 8 € Baad ¢ > O we again choose no that 1/2" < Sippose | satis dt] 1/2 but ts. Theo we know that f= 6, Bede -ye. However since tp a theres E> m uch that sy f fy. So fn=al= Tow cosier the sequences of) and o¥()- The itil entries of exch of thee sequences are dierent, so We hase oy 2 Bt eB a ot “Thin proves eesti for the bi Note that we have actually proved alot moce fr the eit, We have cual shown tal or any #€ al other olntshave orbits hat eventually Sparate by leet ul fom the orbit of “These tree propeities are the basi grein ofa chaste estem Definition. A dynamin ystems Fis chet i 1. Peso pointe for Paze dea. 2 Pin transtve 8. depends eniively on inital conditions ‘Dheorem, The sift map 2:2 +3 is «cheotic dynamic sytem, ‘Remark, Infact ite Koown that» eetem that bas dense et of par be points ai isansve lo depends sensitively on itil conditions, 20 onton thee above flows fom the fist two.* 4B, ey “Os Devan Deion of Cha Amer. Mad Monthy 9 (usm 5038‘As we sam in the previous chapter, the sit map on Bed the quadeaie Iap Q. 08 A sre conjugate and therfore dynamiealy equivalent is ‘afr to ak if the analog of his theorem therefore holds forthe quadrant ‘ap, Indeed it does, batt show this we Est have ta make one chuenns shout dense subets ‘The Density Proposition, Suppose FX + ¥ dee continuous mop tht Ib onto end suppove so that DCX us eden subset Then PUD) dona, BY. Proof Suppose yp € Y and «> 0. Werustproducea point: € F(D) within of, Consider astend epreizage 39 €X of gu thet Fee) =o, Wis fn find suc an zy lace Fisonto Since Fis ala Continuoun thee 659 fc tha if =i within € of x, then F(e) i within eof F(so). Since Dy dense in X, we may choow #'€ D within § of 29, There Fd) le ED) within coy: So mest «= FS) See bal candy meres cers ‘this completes the proof, = ‘Theorem. Suppose © < ~(0-4 2V8)/6. Then the quadratic mep Qs) feu chaotic on the seth Prof. Since the Winerary map S:A + 3 i a onjuguey, i follows that SD — Ais w homeomorphism. Therefore the Dens Proponition guar utes tht the et of periodic pointe fr Quit dene in h since S"! coves erode points for oto perioie pent for Qe. Alois na dense ont foro, then the Density Proposition alo guarantees thatthe orbit of $8) lies oo a dense orbit for Qe So to prove that Qi chai, ll we ned, ois exhibit snsitive dependence ‘To accomplish ths we need to fad x 9 > 0 that “works.” Recall om Figure 75 that is contained inthe union af two cosa ntervs fy and 1 which ae dijint. Choose B to be stalls then the minis ones between these wo interes. We now csi hat any two Qoebltecveteale separate by at lant 8. To see this, t =yy € with 2 9. Sine S ie hhomeomorphis,S(2) 4 S{y) as wel. Ars consequence, hese two segotaee lr at some ete, sy the tb Tis means tht P(e) nad Fy) Sch ne in edifereat Hence the distance betwen F(z) and F(y) nt least 9 Therefoce aay cei close to = eventually separates fom the abit os by at least 9 und we are done, ‘ouarren so cinos 421 ‘To rummarie, «duoc map possess thee ingredients: unpredictil in, Indasocponbty, and an element of regula. A chaotic sytem ie Epeedctablebeeaue of the sensitive dependence on iii! soni. Tt “inuot be broken down or decomposed ito two subst tat do nat ret under Fbocnare of tant. And, in the mito tht commited ‘ehurioy we noverthlrs ve an elemento epularity, namely the pede ponte that sre dene 10.2 Other Chaotic Systems Ih the peevouseton, we showed that the quanti map Q. was chante ‘on the set A a Tong ase wae slietlynogtive. Tn oe sense, this rst [Wanstising beens the ston which Q, i chaotic “amall™—ne we wl toon et, Ais Cantor st. Indond it i ie o ae thi hoe babatoc wih a computer, ab we observed ia Bxparineat 36. Oo the oer band, the {iadelic function Qua(s) = 2°~2 seme tobe chase on the entre nterral {2,2}, ae we sow sumerclly in Figure 3.3. Our gal inthis section it vec thi fee Instead f dealing diet with 2? — 2, we wil agin take back door approach and considera simpler ajar that turns oat to be equmlent% {Wirsop. Consider the fnction V(2) = ls]—2. The grap of ¥ deployed {Figure 101, Note at this raph takes the interval |- 2,2} total exactly S212 does. Graphical aaiys shows tat fo) > 2, en the onbitof = Soler V tends to ait, agna exactly me happened for 3° 2 “To compute higher iterates of Ve See make use ofthe definition of shale mae fo weit va ipl 21-2 Hel ~4|~2 (CEE eeblnazo om hia Hie] 42 We] 4S 0 — Ist Tn tara, this may be farther decomposed to 4e-6 Weed 42 fosrei fe42 #aszc0 nte-8 ifrs-1 ve)ig 04 Te pp of Ve) == H (VIVA Mg 102 The pat fad Figure 102 shows the graph of V2 and V®. Note thatthe graph of V2 sonst of fou near pices, each with Slope £4, nd tht the engh of V2 cosists of eight pieces, each with slope 8 Tn gener the ork of V= ‘ois of 2 paces each of whch weight line wth dpe 42% Bach ot ‘ese tinea portions ot te graph dened a ital cage HE ‘hin fact shows immediately that V is ehaotie on [2,2] "To this, 1 combder an open subinteval Jim (~2,2, From the above obcoation ‘ne may always nda subinteral of J of lngth 1/2°—> on wich the graph of V" stocehes fom ~2 to 2 (ce Fig 103) In paticuaes V" has soot point in J. 20 this proves that period plats are dense ia [2,21 Alo, the Senge of J coves the ate iteral(-2 9,0 V's anak, Plea ny = € J theres ay €J such tht [V¥(2)- Vp 2. The os ay choose 9 =2 end we hive snstive dependence on inal conditions ig 3 The ap of ae J nr eine (2.8, Nom we will se this fact to prove that Q-1 tao chaotic. Consider {he faction C(=) = —2enene/2) Thi uation snap a ntreal[-2.2] onto ital ax shown in Figure 104. Every pot ia (22,2) has exactly wo preimage in [2,2 withthe exepton of 2 wich he nly one 4g a) = Renn) a 2.9 oto, Now suppose we apply € to both x and V(x). The eu the dingra124 preascaL systeus Wie atk what isthe mapping F tbat complete this diagrams what isthe funetion that accomplite the flowing? ~Beo(es/2)r+ ~Beox esl ‘With the hp oft geno, Bod ~Beowse|—#) = 20092) =2eosr2) 0% leting u = ~2eo4(r4/2), we fad that FU): We have the following commutative dingras [-2,3) “ (-2,2) [2a gy i appears that Cis conjugacy between V an 2. Homer, Cis at ‘shomestorphism ince Cis not oneto one. Nvtsthelet, the comnataive Aiagrar shows that C earn orbits of V to orbits of Q-a Since C fat ros two-to-ne, it allows that © takes cycles to ejlen Howser, 2 it ot noceniy true that C preserves the period of cycle For example, © ould conceivably take a 2cjle for V and map it tos fixed pet fr Q-> [Nevertheless since C is both continous and ont, the Density Propestion shows that Qua has periodic points that are dense at wel azn dense eri. Finally sie w may be coven so that V" mapa acitaiy sal intrvls ‘nto al of [-2.2), the same must be eve for Qua. This prover nealne {pendence and we have cuarren 10 cwvos 138 ‘Theorem, The fncion Q-a(z) ==? 2 0 chaotic on [-2,2) ‘The map C that converts obits of V to ocits of Q-2 has a aime, Such map sealed a soniconjugacy Tobe piece, me dai: ‘Atmappag h-X —+¥ in called a semiconapeey ih incontinent ot spostmoooe, nd elton hoF=Gon, Asa final exmple of a chaotic dynamical system, we consider now function that wil playa major role late when we consider dynamical systems Jn te complet ple: Let" denote the unit el inthe plane” That Sta (ios) eR +y? «1 We describe a pint on by giving its plas sgl 8 in radians, Noto that 8s only deine dale 2, Let D:5! $1 be given by D(8) = 28. We ell D the doubling map ox the ce, Note that iE san ee on the eel, then D(L) ian are that twice a long (les the arlength of L exceeds sin which ase D(L) covers the entie eel). So ope iteration of D behaves in fabion sims to ‘Theorem. The doting mep D is chaotic onthe ant ert Proof: To prove this we will agin oaks we ofa semiconjugney. Defce 1c function B:5* — [2,2] gen by B(8) = Real) Sine cn) ithe -reonrnte of the point # on St, the map B is given geometrically by projecting pints vertically om the cre to tha aaa then sieching bya foetor of 2 (owe Fig, 103). Note tha fs two-tone except athe points and 0 on ‘Consider the digest (0 tren! Ec nate on fr eeeih. Fg 4 Tp 8 poet 5! whe sas [As bloc we ask which funtion completes the diagram. We have Bo D6) = 2eol28), so we mast lth faction that ake eo 6) re Reo, However, me may write Beat 2(2exe()~1) = (rata) = Sothe required function i our read the quai funtion Q-a(e) =2?~2 ‘Thus Dand Q-1 we sereonjgate, Ie isnt diel omic ages ea above to ample the poo 10.3 Manit festations of Chaos ‘There ae numberof diferet computer expeients that eve a i ation of etie Behave. For example, hog or density Pt eat fen indicate the presence of bite tat vit vitelly every regi ofthe ‘intern. Ta Figure 106 we display the histograms foc several felis studing F(s) = 42(~'s) and G(s) = 2° Se. These histogram are ‘computed using 8000 iterations ofa raadorly chosen inl seal each ‘ase Note the similarity Between ther histograms und that ofthe quad ‘ali function Qua eiolayd ia Figure 1.2, We ack you to vest aoa ‘of tase mape is indeed chaotic a the exec follwing tin chaps We hve le played the histograms for Qin and Q-i.e in Figu 10 Thess 3 carrer ss casos 127 we wd ls 16 tora or (0) sa) = fof —2) (6) Ole) =e, Wo Qedel=e thd (ate) e ents histograms ave clevly quite diferent, but they nonetheless india thatthe ctesponding fuscia have artis that are dense Ia era ntervl Note that histogams may be misleading: the doubling function on the ami iteval is enti,btthe computer shows (rll Expesinest 3.6) that Mlonbit tend to seo. Sensitive dependence on initial eoditions may often be noted in rather stunning fasion using the computer, for bite of tay chante seat to separate very quiekly when seniivily is present. For example conser ‘gin the chaotic quadeate funtion Q-s(2) = 3 ~2. We have proved thet {is function depends seasivly on fit conditions We Lao that 0 sventunly fed with crit 0,2,2.2,2,... Neasby eit should separate128 byvawcar sysress a Va of Gf 29 8.03,00,011 fiom tis exit. In Table 10.1 we illustrate thi by lating the st Acca ons onthe orbits of several neaby iit! sds, 1,001 and ODL. Note ow quickly these obits separate: bythe tenth eration, each of thre ‘orbits has ached th oer en ofthe interval [-2,2, Seoitve dependence ino tall suprsingin functions whos deren 5s alway larger than 1 in magnitude, such a a the are ofthe doling fuetion. For =? 2, however, this raul i by no mens dott” We hare QL(0) = 0, so thaze is a interval nhoutO tht ig contend by Que his means that any bit that comes cloe to 0 is upon the text Reraen seared wry coe t0 QO). Hence, allt he show fy the te bits do not separate. Ta the lng eu, however we know tt hens obs do tend to separate Incidentally, thie act provides the answer to the ey ‘uestion 18a the end of Chapter 8 10.4 Experiment: Feigenbaum’s Constant Goal: Using the orbit digram, we have sen in the previous lab that the quadratic Function Qu(z) = = +, the logistic function Fel) = ex 2 2), and the sine function cvs) all undergea quence of pose douing bnfeatons asthe parameter ends othe chaotic rogime. We have ao sons shot eagication of the ort dingram tnd to lok “the same” In thir sient, me wil se thal there ellis some tuth to thir we wll exe ‘in thes period doling biareations away oer atthe see rate ‘Procedure: Inthe expeineat you wil work with iter the quadratic oe the lg ely. We ist nod 8 deiiton Deftstion. Suppose zs w cxitial point for F that i F(a) = 0. Ixy {a alo » parole plat of P with period, then the ott of yi eallad ‘pertble, The venue fr this ternncogy i that (F*V(c0) In this experiment we wil Sst determine the values at which ete (qua) = stor F(a) = en{1-2)bavesupesable cee of pao 1,24, S48. and 6h. Using one of che programe, experimentally deterie the values at which your funtion bara sipestabl point of the given period, Bomar to chock that hi pot has the cores prime period, You sould be Tooing in the Petiod-1 window of the coreespoding orbit dngshn for thee point "There ate e numberof ways to do this. Fr example, you cou ist 1000 prinison the orbit ofa random ntl condition, By changing the partner, Fou shold then sath forthe “exact” for which the exits pat (0 for Qala) = 2,03 for Fla) = cx(t~ 2) Hes ona epee. You wil usually fet beable to fod this parameter vue exactly. However, you sould find {hee ale for whic you come osst to having the eriteal paint periods ‘oualy, this means that you Bid m pict on the oeit within 10° of the ‘steal point You should ind e acura to sven decal place, whch x ‘ore orl the accuracy ofthe compultins “Another approsch might be to compute the fret 2° points on the orbit ofthe crite! pint, and then scing how lore you comet this point Then ‘aod the paracer repeatedly o ty to come cover to the vale fr which (he ria! point i penne with the ight period. AMler nding the oeven fale for our funtion, record thre numbers in table fem sale for peiod ‘value for period 2! ‘le fr period 2 le fr period 2 -slue forpaiod 24 ale for period 2° ‘ale for period 2!Mitchell Feigenbaum, ei el ape) wt mn he tet by Seen Saale ou he ied daing bt in Na i i gat ae ob it epan yt pps Koes eto oy sein th fevers mos ne wed by Cle Eat [etapa th “srl” ot Ppa sos Feu tw a Fans of Ppt hos "Now wie a clcaatr to compte the allowing ratios: ‘ist these numbers in tabular frm, 20. Do you ntice any contergene? You should, atleast if you have cared out the above setch to cough ecm plac Notes a Quertons: 1th mer ela Feigelon’s ent 1 tn ot hat si tanta annem sppeay whens epi aly te Dated dng stew ca Cour tin ten afta te eae ‘sling ia Aen ey She et ete remarkable result due to Feigenbaum several years ago. 2, Thin ab takes ge oper, i ello ck wih en and divide up the tasks, : = Exercises For ach ofthe following ets, decide wether or wot the sts dens nt) 1. $y the oot ofl ral surtber in [0,1] exept toe of the for 1/2 for nai2a, 2, Spin the st fall ational in [01] ofthe form p/2", where p and n are fain! name 28, the Contr middle third st, 4, Sc isthe complement of the Castor iid hinds at. {5 54s the complement of any suet of 0,1] which har countably many ements or auch ofthe following sts, dace whether or not the etfs deve fn ©, (Gre teasans 6.7) = ((50552-.)]4=0) 1. Thi te complement of 18. T= ((eonn--) the sequence ends in al 0) 9.7. (6082. ]a most one of hes; =} 10. = ((so40n-)]ifately many of the 6) 11, Ths the complerent of 7, 12. =U 15. Tis the complerent of 14, Find (nontrivial) sequence of period pint in © hat converges to the point (0107. 15. Is theo ofthe point (0100100010001...) under e dense in BP 16. tet possible to sve an example ofan orbit under o that accumulates cn (that in comes arbitrary claw 0 bat never onl) the two fi poe ha but whic an dense? 17. Provo thot ifs € B there ar sequences €abitealy lone to efor which Fore) ot) 2 oral aunty large 18, Prove that the set of endpoints of cored intrralsinthe Co ‘Middle third sot i's dene cubet ofthe Castor 19. Let V(x) = 22] ~2. Find the ised points of V and V2. Comput a expeesion fr 7192° pyvawicat svsreus 20, Prove thatthe doubling function given by fees PO Veet teed i htc 1.1), Compre herent wth your sbanain in Eup meat 3.6, » os a Tora it been. 22. Uae the rerlisof the previous exerci to construct a conjugncy between ‘om the intereal 0,1| aod fs) = 22" 1 on the interval (ot) 23. Costa a conjugncy atv on allot between Gin he previous vexrcise and Q_z. (Hint: Use a linear function of the form az Vo 24, Prove that F(e) =4e(1~ 3) ie caotc on [1]. 25. Prove thatthe “tspling map" on 5" given by F(8) = 8 is chaotic 28, Use the els ofthe prvinus exit poeta Ge is chaotic on [1,1] " @) 27. Prove that eae waa eed CHAPTER IL SARKOVSKIIS THEOREM 199 CHAPTER 11 Sarkovskii’s Theorem I Chapter we aw that the quadatefuncton makes the resin to cacy, here seta be ntny owlace where the rap ie hace, td macy ‘other calc for which the djnamie are qu tae, Ia pte, i any ‘ofthe windows here seem tobe at most on ttacing cle and othe Synamis. In this chapter, we wll show that this x by a meanathe cae. {a paticuar we wl show that eevee much more ging on than mete the sje patclary nthe period window, 11.4 Period $ Implies Chaos eloredincusing Sako Tore i ful gener, we wil prove 8 vecy spel cae ofthis eal ‘The Period 3 Theorem. Suppore FR + fs continasun. Supone ale (hat F has © perdi prnt of prime periad Then Fabs ha porioke oink ofl ober peri, ‘This theorem i emaskabl for the simplicity ofits statenent. The only serumption i tat F is continous. If we Gt n cle of pied 9 for F, ‘we are guaruteed that there are nfsitely many other eyes fr this op, wwth evry posible period. In particu tis shows tht there ie mee ‘ote going in the orbit digenm forthe qusentic mp conser in the previous chapter. In Figure 85, we see only m yc of snd fr Interne evales. Somers in hie pittse thee aust ls bea large set134 pywawtcat srsreus — James Yorke 1m 18, man York (14) teamed wt T-¥ io "aie in that te pene eft eo I nt dye aca intrest a of other pevodic points. We don't se them because, prenumably, they are aM epalng ‘To prove this result we need to make two pelminary observations Observation 1+ Suppose f= fo8} sed J = fd) ae ICH IA) J, then F has feel pia of introts and his ofcourse, isan immediate consequence ofthe Intermediate Value Theorem. Since J Fi fllows that the eaph of F ns erns he dingonad cover. Figure IL shows thatthe fie poi need sot be igus ‘may in fat bea umber af xed pointe foe Pin Homer the leneemctens Value Theorem guacntas that there st lens oe Sue pore Observation 2: Sappore I end Jere two caved interacts end FU) 3 J Then tere ise closed vabiatorvel PT sek hat FP] 7 ‘Tis oseration docs oot ply that F is aue-tnone on he subineval 1 we only elim that F oupe Font (sce Figure T12), Note nn he we donot assune here that J Fax i observation 1. Now he's tee tee ro! ofthe Period 8 There 5 Meu (tea = CHAPTER II SARKOVSKI'S THEOREM 185 1g 14 Sic B02, thre eae Se giea by Praof of the Thearem: Suppone thet F hae 2 3p Te we acs Hat i the fieont pono the ori Yen there are two iso he rive potato he pints on thie shorn Figure 112, We wil aun the ist cmew <# the scee Tl sy tet efor = bc See Fe) = bal) = ne ae FU) > hi Simi sine Fe) ~ awe hee FUL) > LeU. Nie tat ‘Settling weet stint Fon th pt to special cases m= Dan 2138 yvamoar sysreNs CHAPTER 11 SARKOWSKIIS THEOREM 187 ‘Tofind aperiodic pint of peiodn, we wll invoke observation 2preciely times, Fest we aote tha, since Ph) > i, thee sa dosed wsinteral ‘Ay Ch tt sateen F(A) = fy. Since At'C fi and FAG) ~ ft > Ay ‘se may invoke abortion ? agen to nd cow vabinteral dy © A ch that Fn) — ay Note tht, by comstection, dy © ay © Dy and Pa) = hy ‘Now continue inthe ftioa form 2 steps. We produce colin of load subinerrals, ig 14 Comtrade A 11.2 Sarkovskii's Theorem Aya CAs ere CA Ch sm 2and FAY Stckovai's Theorem, Sct prove in 198, isan incredibly power and ‘enstfl rngthenng ofthe Pesod 9 Theorem. To state the theorem, we atin uo the nturl tuners in the flowing steage oer such that F(A) = Aj for FPA 9) = hy and dag ly Now, since F(Z) 3 fh 3 Ayes there ie also x closed subiateval yet © dp suth that F(Ages) = dace” Boal, ster PU) 9 le Ayes these 1 Ta pestis, bother dcedsubiaerval dy C Zh auch Wnt F(Ay) = Aan. Putin tia 3.6.19 ogee, we Sn 2152-52-1 roe Boe 54 An Aas Anh Papeareies with F(A) = Aint 20 that F°(Aa) (se igure 11.4). Bat Ae fy 30 ‘we may wie observation 1 to condlade that ther ina point 2p a shat I ‘aed by F*. Hence 2 has period We cam hat oy bas pre pod "To ze this, note that Plas) © As yc Jy, tat Fee) e dyke = 2avsgma Bo the Bt iterate of y Hori Jp but al these i Th proves that xy has pesiod ny 50 zy has prime period n* "The Saal taom are m = 1 and 2. Thewe are handled by notag that F(R) 3 Kiss there taxed point in. Silly, FU) 2 Fy ad PU) 1p, So there is Deycle that hops Back and forth betwee fed, ola the above ergument. This completes the poof 2 PBA, “This known asthe Serko ordering ofthe natura numbers Sarkovski's Theorem, Sopyose FURL Ris entinuous, Suppoue thet Press pnd point of prtl mand that m precedes inthe Surkowlt Snderiag. Then Pelus base poroie pont of pre peril Age ote the simplicity ofthe hypothe and power ofthe eoneuson of this theorem: Fron Sarah ely ow thats continuous function : ‘that has @ periodic paint of period 6 must also have cycles of all periods (oi hi cn wal ea138 pywawmcar syste A. bv. Sarkovstei In he thet tow oni me ign shennan ster, Srl are he OE {37 mg ono min ger a an Sinn Fhe ed 72 thn Pm aeons pesos T2810 hao 2 ‘entire tail of the Sarkovskii lit. = Fraps crn mate ating the act hat the enter of Seni ‘Theorem is also true: forts ‘Theorem. There is e continuoas fncion FLR + R wich has « eyle af pried my batho eer of an pried tat Pees nh the Srv Remarks: costars 16080, 617 (le Rain ea CHAPTER 11 SARKOVSKIS THEOREM 189 4, Sash Titocom i nt cue if the “ypc” In question is anything but the el ine oc intemal, Fo example the fanetion othe dle at at folates all pats byw fixed angle x/r ins periodic pina of period and ‘So other periods ‘We will not present the fll proof of Sarkvski's Theotem. ‘The proof ts pot diel i basil iavolre pesto apliatons af to wo obs ‘tions we made in the previous reston, However, the two inter Ty and Ty used inthe proof ofthe Perid 3 Theorem mutt be replaced by m— 1 fetes. This means tht che "bookkneping” becomes considerably mace ‘evolved. See [Deveney p. 6] fr more deals. Iaatead, we wl give a favor ofthe ll proof by dein wih eter special eases Gate 1: Period + Peiod 1. This flows from the Intemadate Value ‘Theorem, Suppose 2. beon the beycl, with Now FY) aust be one ofthe 3, with § > 1, and Fay) i simlaly an with # < k. Thus Fey) = 2 for nome ? > 1, we bave Flz})= 71 > 0 Similaely Flxa)—=4 £0. Therefore, there sat between 230d 24 with Fla) =O, whieh ves usw fe pst Case 2: Patio’ 4 => Period 2 ‘This case s move cmplicated. Suppose Chote pista between x and zy. Then there are wo cases. The Sst tscurif bot F(z] > and Flay) > a. Then we mune have (zs) fy Oar two oberestions in Section TL the guncantes that there is «2- @ and Fiza) < @ Consequentiy, we mst bave Fes) = 2x Let fo = fs.) and f= fuze (sce Figure 1.8). Then we have FU) >My aod Fly) 9 fou. This is ‘se atuation we encountered a the prot ofthe Petiod "Theorem Hence there i eel of period 2 (and, in fet, x ejle of ony period). The oer140 pyeunear systeus oubiity ie handed in simile fashion, except that we must make difeent hoes fr fy sd (Case 8: Period 2" Period 2 when n > &, The previous two ease take care of the cate whea n = 1 of 2,9 We essime nS 3. Let = 2° and tonsideeG(=) = (2). The cyte of prod for Fis acyl of period oe {G1 flows from the previous eze that G lie Dye, Bal this Beye foe Gin Phyl for Nov lat us give several examples ofthe converse of Sorhvai’s Thawte, Example. Figure 11.8 shows a aksch ofthe grap of a pce Ineae* futon defined onthe ister 12 £5 Note tat sothat we have x Sept ‘Tosee that F has no period point of period 9, we assume that tae ie sk a point. om the grap we eo hat Az) =8.5) AQ.) = fh) Fal) = 8) sang ine cuapreR 1: SARKOVSKITS THEOREM 141 Hence, F{(1,2)) = [28] s0 F4(1,2) 00,2] = (2), whieh hae period 5. ence Fas ao Bel pois in [2 ‘Simla argument dow tht her reno 8-ecle in ithe ofthe inter vate (2) oF 5) We cannot use the sume argument in the itera 3,4, ‘nce F anf hs fed point within ths interval. However, we noe th Final fa) in decreasing funtion, Ako, bal Bs) F:Ba)= 19) ae also decresing, The commpestion ofan 044 number of dsresng fune ies decenrng: Hen PE (4}-[h8) ie decreasing. Thus the grap of? on [2,4 mets the dagooal ve (8) 0, tctly oe point, Ths pont must he the xed pent of Fr There F bas to ccs [4] either. Consequently, thi Fonction has a period 8 point, thro pei 3 pot Example. Figure 17 shows the yaph of @pecevise line fonction tht bn Payee ges by erie ier ier er ec ieetey‘eguments snr to owe i the pevos example sow fat F has no 11.3 The Period-3 Window Now een to ethene tly Qs) = 244, Rel fom Chater that ce anne fel pe pee Sn aluacing je I te conapondag wow ine ee, soso thn ceo aloft ter pee ponecioe es SctoraisThexem ure Inthe tnd ed clon se as ‘Ser pit an show how ye ia oe Se a | o o ig 1 Gap fo) 1, hem “6 CHAPTER 11 SARKOWSKUS THEOREM 143 ‘Using the obit digsam for Qe one say check thatthe peiod 3 window fiw opens fore 1.75. Figure, shows the raph of Qf two evar eae “175. These graphs show that this family undergoes» exdle-node Tifscaton ase decree trough “175. For the remainder ofthis etion we wil consider the specie parameter value = = 17048777... This vale choen so that Dis onthe attracting Sey Oe eteno. ‘Soci the nanero roto the equation 0= G0) =(e +e)" Fe (es Figure 110), For dnplcty of notation, we will wite Q = Q-1 ne for the remainder of this and the ext sign. This eve ealled a sngerstalle acnmeter sine the deivative of @? along the atrecting Byce io. Fig 19 The atracting eye or oman 0 Figue 1.10 shows the graph of @ Although diet to see fon fr, thie grpl no eg Bel pot, the evo fixed point of Q, the aie Shepley ae another repelling S-eyla which we dnote by an para With 7 < B O sich that ify] <6 then ee ‘Tht i, open sts have the property that we can aay find 8 aa en “all” in Yall pins within stance «around any point ia F Definition. A subset VC X ise dosed st if the complement of Vi an open sack of X "Thus to show thot EY CE em coued eubet, we mist verify that ite sommplestnt is open. To se thi, choose & point 8 (s9sie.-) i the fomplemient of B We mst produce an «> D such that ll pats within « (fs alo ein the complement of 2 ‘Sees g 5, tere must be al leas one pair of adjacent Os ia the soqunce (sin. Suppone kit auch that a = -y = 0. Lets choose <2h, It € B elise dlp] <6, then the Proinity Theotem guaractes hak te = soyende mae pailr, y= tary = 0. Therefore tes Inthe compliant of Band we have found « stall “al” aboot in the ‘onplement of 8. This proves that 3 leased. So we have Proposition, 2 ¢ Bisa clved antot “The shift map o abo makes sense on E. Fo i's is «sequence with no pir of adjacent Othe o() slo es hs property. Theatre! guetion what eth rlatonaip betwen Q on A andthe sift o rset to D ‘As pou might expe the tnerary faction S=A +E provides the anse, ‘Theorem, The snerry facts New orb! S.A. Bi congo betaeen Q:A — ‘ie wl not provide the detail ofthe roa since i eset he same ts that of Conjesney Theoem in Chapter 9. The one important diflewnce i that [Qa aot evetyebere lager than Ion Ig, However, one may heck that (Qh (2] > for some Fand all € ZpU fy and tise lovcomplet the prost. Full seals may be found in [Dorney pp. 98-0) "The ak map i le chat on 1. Notice that this noes proof art ecaute periodic points re dense in, it dows not nessa flow that they are dene in'w abet of 5. Sint ow do we know that three dense orbit E'? We wil leave the proof of thee facts as exerci ine ‘hose proofe are smi in api lo thos ia Chapter 8 ‘Theorem, The sit map 0:8! +5 chat Fom Satkoati's those we know that Q has pride points of ll psiods iy but thie rent gies uo a indication of how many eyes @ Fine thts inforsntioo, we ead tothe eof the syinote donne, ‘Lat Pere denote these of equencsin tha ace ied hyo, Note that Per contain only one sequence, (11), whle Pry coatuins (0101), (170), td (111) Oue goa toad feral forthe uber of wequnces in Pere fecal ‘Thar are Uwe distinct types of sequencer in Per, nal ‘Ay = (GBT) € Petes (GBT) € Pec [on = (GBT) € Pete |sp = 1 = fo) CHAPTER 1) SARKOVSKITS THEOREM 149 Note tha repeating seuence of the form (Usj=-7n-2) dos not ie in Tak Bers denote the numberof points in Pe. Then we have Peg = Hy + HB + ACe, slace Ay, Boy tad Cy ane atl excaive "To diarsine #Per, we wl show tht thar ea one-to-one errespon ence betmcen Pein. and Peta UPety. This wl prove ‘Theorem. fPerasa = Pecos + Pe for n> 0. rool Chooee aay 8 = (OITA) € Pernya. We wil ssocite a unique Soquence in ether Pees ox Perg 10 = If t= sey, then we must have ov test = 4, since ajucent O' ace not allowed. ow ay may be eter 0 Gr yoo © Porgy wilh = tgp = 1 determines repeating sequence of length nt 1, namely (T-~), wih es inet Ayes 2: Gnas ‘On the ste baa, i+ € Peyya but ap ay, then We have to cases Fiat if op = Land oyqi = 0 then sy =. So oe) may be ether Dot 1 "Thus dates anique sequence (Tay vay-) meter Ay of Cy ‘italy, ap = Daz aygy = 1 then 2 say be eter DoF 1 1g = then # determines (Date), whieh ee By lace sgt = A Heeg = {at ¢deternines (agai Be Nom ronal that Pers =-AyU BUC This wo may asociate a nique soqence in either Pery of Per to a sequence in Petgyn Reversing the ‘owe procedure piss the conver. This competes the prot "This thcorem allows us to determine ecusvely the umber of periodic sinlsin A. We have alteadys0en that Pen = 1 snd #Peey = 2. Thon the recursive elation yields Pes = 4 Pe Were = 01 Pere = 18 dao ft, ‘We rack that the recurve relation HPensa = Hes + HP,150 praawicat srsres erertes the melbnown Fiboose! sguence when #Per)=1 and #Pery = 1S the cloacal Fanuc sequence is 11,2,8,5,818..05 ud ous ight vsition om thie thane "Theo nape om Bi alld m subi of ite type Tt subst since BB, Iie of faite ype since it x determined by nly Bnitely many fenditions onthe entries of nquencs in. In our ease, the only onion is that may not follow 0 More generally, eubaitsof rite type occur as subst of the shit con N aymbols, Let Ey denote the tt ofall soquenos whowe enti are O.1,...~ 1. Soe the erie allowing Chapter 9 regarding this st. A ‘subst of Baie eype is defined by prescribing which digits ate allowed to follow given digs in an allowable vquence, This may be vsuaied most sffctivey a deco graph wth vertices, 1..7~ 1. A directed graph ‘onsets of acto passing fom vertices to verticer with at moe one arom iolng fom vetex ito serene jThewe sere are dered no thee may be another crow gong from j to, The allowable sequences are then all {afsite paths through thie graph. For example, the robe of Bite type ‘Sererpaning tothe period window inthe orbit diagram corresponds fo the graph in Figure 12 én, Figure 11.18 dept the diverted graph etre ‘sponding tothe al shift on? symbol © o oat Subshite of finite type need not have chaotic dynamice For example, the dete grag in Figure 11-15 eorresponl o the subst for which 0 ray flow Oor 3, bt 1 may oniy flow 1. Note thatthe only allowable sequences inthis subi are those ofthe (000...) a.) (an...1000.... ‘CHAPTER 1 saRKO¥SKIIS THEOREM 151 Q-~9 Vet “Thus thre ae only two Bxed points for this dynam pst, no other petode pointe, and uo dens orbit Exercises 1. Can «continuous function 99 havea periodic point of peiod 8 and rot one of period 56? Why? 2. Can a continuous function on R havea pce pant of period 176 but fot one of pei 06? Wy? ‘3: Give an example ofa function F 0,1] [0,1] that has a perodie pint tf ped 9 sad no oer periods. Can this happen? 4, The grap io Figure 1.16 each have a cycle of period 4 given by {0.1.2.3} One of ths functions has cycles fal other periods nd one nt iy periods 2 ad 4 ety whi Tanetion bas acho thee propetins. Te gap with pad 15, Suppor a coutinuous funtion F has @ejle of peiod n 2 3 given by i cures cay. Suppor tht P perms thee according t the rle fesgpmessoay ay. What ean you say about other eles fo FP 6. Consider the piecevse liner graph in Figure 1.7. Prove tht tis faetion a a eee of period 7 but ot period 3.152 pywasoar svsrens 1, Conse the graph Figre 1.17 Prove that this funtion has cyte cf period 6 but mo eyls of ay od pei Fe nan, 8. Consider the fanetion whose erp i olayd in Pig, L117. Srove ‘hat this fonction has eyls of ll ren periods but no od peri (ean y Coase he subi of fite typo Ec detried by the es may flow O and both O and 1 may follow 1 gx dneussed i Secon LL Prove that periodic pint or are dense ', Prove that thee dense obi for win The following four problems de! with the subst of Bs, the space of se quences of O15 aod 2, determine! iy the rules that i may Flos 02 tony flow 1 nd 0,1, 0 may fallow 2, OO, Meas 20. fe this subset of Bs dled? 11 Are periodic points dee for this vubsbit? 12 Le there a dense oti for this ube? 19. How many pero points of pera 2, 2 and slay thee rules? 414 Construct» subi of fie type in By which bar a period yee but to ee or pei 2 points 15. Discus the dynamo ofthe subs given by the dicestad grap in Figure 1L.18a, Ave periodic pots dense for this ubehiN? Ie there a dence bie? How macy pede pias of period n doe thi subehit have? 16. Discuss the dynamics of the subi giv by the dieeted raph ia Figure 11185, Are period polts dens for thi substi? Ie ther ndenoe oie?154 prwawicat svsveus CHAPTER 12 ‘The Role of the Critical Orbit 1s previou sections we have sen that simple dynamical ystems such as ‘he quadratic family may poses initely any pecodi point. Bute we sa lathe eit diagram, ry fw of them spent be atretng ta tis ‘hapter we wild out why ti so. 12.1 The Schwarzian Derivative ‘The Schwarsien derivative i one ofthe stranger tools in dynein. A ‘hough tis devvative haa venerable histor in the eld of compen analy butt was nly intcoducedinto thoscudy of dynamical sytem 178. Fane. tions with negative Sehwarsan desvalies ve ery interesting dgpamal optics that simpy tel nals Detotion. ‘The Sehwersen derisative of « fancion Fis ma-3(Ra) Many fonctions have negative Sehwarsinn derivatives. For example, the ‘quadratic family Qa) = 2! +e eatnhes SQ4(2) = 3/222), Node that 5042) < Ofer all inelding the erie! pont v =O where wo may doe SQA) = =o, since henge 8Q5) = ~20. hs, SF) seya-tea CHAPTER 12 ROLEOP THECRITICAL OR@IT 138 a S(sinz) tate 5, we have Pe) Fa) = 0 ‘This conteadicts SF < 0 Silay € haa a nagaive local maxiaum at 2, then P"(ze) <0 snd Pay) £0, agua yielding» contradiction, This concludes he root ‘Ara consquence of thie proposition me ate thatthe graph shows in ‘igure 12 In cannot esas or a faneson wth notion Sehwavinn derivative Tadeo there are tro points and b where the dative ie 1 fo betwen, the slope i ls than 1, but never negative, So F” mut have postive lral ‘itm between a und 8 This is eposibe by the Schvarion Ms-Max Principle. Figure 1215 dioplays a graph whese F(z) bas » negative local ‘aasinmaa between o and beach of which bus decile equal fa Ain, (hie Kind of graph cannot occur if SP-< 12.2 The Critical Point and Basins of Attraction In this ection we investigate how the saumption of negative Schima dervtvesewely Init the Kinde of dynamin! behavior that may occ ‘We mil show that each attracting periods obit of sth a fintion must attract atleast ne etal pint of the function,” We begin with steal “eons Definition, Suppose zai an attracting fuel point for FL The basin of tlirection of zp ithe oct ofall pints whomeeritstenl top, The mutate158 prvamcas svsreus 6 o Ma 121 Thee papa mingle SP-C Sass of traction oe the ge nea costing hen the ‘basin of attraction. Basing of aration for teacting eyes of perio ne died ung F ict of F. The AtrctingFsed Put Theorem (enter ee at aurating fed points and ples hae nme bason ok Sens 1a geeral but mt alge, he iumeiate inf atacon foe or tcctng oie sale tha the bain. Pc Pe) te ene dine basin often the ed pot Dis (cl), Ts nce eb basin of atacon, For O{e) = ort there ean staring fad pegs bat ts basin of aration mc hoger tna te ets Re NUnetio (Figue 123) ‘unin et the ction i theo Theorem, Suppore SF < 0. Iu isan atvating priate point for F tion eter the Hrmedse bein of tection ay exendn rt or ele thre sy «ential prt 9f Phase oe irctel tothe orbit of Tis theorem cxlin why we se mos one tating pec wit fo the uniatic amily Que) —sFFe We tone tat eke tts thn the rho tends to ly Hence ns wel? {Bde Som Since Oia he ely eal pout oh Qe eed ae falows that Qe has at mst one steacing ples A SS 8 CAPTER 12 ROLEOF THE CRITICAL OR@T 159 Me 1 hime a atin ov) se “Tis aio the teaon why we always ue the crit! pt to plot the obit ogra for such functions ns the quadratic ot the logit ful, For those fies there fool one ersten point, Hage, if thee functions have tn atcecting cele, the en pol mst fad? fe “There maybe no eiial pont nthe basin of attraction of atcating ‘yes, a the folowing example shows. The above theorem guaraters at ‘ch Basins mst extend to infty so there canbe at mow rosie orits Example. Consider the fusion 45(3) = Aartans Since Ao) ‘Ay has 00 este points when A # 0. If, however, [A] < 1p then 0 i a Stracting eed point. Tho mediate basa of stration i the ete vel Tine. 18 > 1, then Figure 123 showa that Ay bas to atroctig fe pots and both bwsine extend to inBaity PX © ~1, Ay hae ma attencting esse ad again the edie basin extend to init. ‘Wie eoucue this chatee by providing a proof of this Thcaes in the simple case ofa Axo pois. For erode pints the proof i sini spt but the detail ce sore complicated * ‘Proof We wll rove thatthe immediate basin of atenton of en ttrecting ‘od pat peter contains aerial point or ele exten oii,160 prvawicat sysreNs ‘The immediate basin ofateacton of p must bean open otra for cothernize, by entity we could exead the basin beyond thee Se suppoe the immediate busin of isthe nterral (8) Ieee Infinite we are done. So suppose bath and bare ite Since F maps he jaerel 5) to ial, flows that F aust reserve the endpoint of thie tera, That Fe) set be ether a oar FO) (or bas well‘Thus thre ace eset four pases for he Se Fg 124 fr 9 pire oft pins. tat cut al 4, Fmt te eon oft a (eh thn atced ing ah ret ts Wie al Sw ae hy, Fs ve no er fae pit best pin (b, We ca tat Fein Tome the nat sa ect He) (a ett ea pot) Alay Fs) shes np tape mae Mowe ta ps nat acing ed pi Concent mee FU)> tid he a Co bana epmene oe ar PO) es the interval (p, 8). oe " mer Te Mea Ve Tine nt hei a pit en (6) CHAPTER 12 ROLE OF TuE CRITICAL ORBIT. 161 that r= R=A Note that # p since P(p) < 1 Sima, there i = pot dn (8) fr ich PG) = "Ths on the itera (which contin pi te otrior, we have By the Schwann Min Mix Pinipe,F cannot have a poitive loa ms ‘muni led, Thus F mul become nogtive a [ed a0 Chere teat cae nt inthe basin of atacion of pst whish he derative vanishes. Th {Gres us ste! pt in the asin. "To bnndla ease 2, we consider G(x) = F(2), The fie pint pis ill sterling for © wad (a8) he inset Dain of atreson ofp wader Moreover, SG 0 bythe Chain Rule for Schnrian Deiativn. Since Mand G()) = 8 the aegnts sf eaze I show that @ must have ® fie point 2 in (68), Since @(2) = F(F(@))--P(2), flows that coe GEE or FYE) i neste! pnt of Fin (a) This completes the prot As efnal remark we ate tht the sbote arguments workif pis neta ‘heed point that ntact fom op side, Sash points mast therefore hove Trine that extend to infil oeeant attract aerial pois. Exercises 1. Compute dhe Sehwarsian derivative for the flowing fonctions and die HSF(2) <0 teal’ = wFa)ez Fla? Fa)ae 4 Pla) Secale? 41) Fla) s arcanz 2. tei tru that S(P+ GY) = SE(2)+ SG(2)? Hao, prove i Mat, give 1 counteresample(9 Fear (Pear) wre =sry= Fig 14 The opie co for eimai bn of tet. 5. et rh SUP-0) = SFL) Oe) + F(a) SOL Hs, prove i IF 4 Toit tue that S(eFV) Teaot, give cousereample SSF(x) where cin a contant? Ic, prove i 5: Give a eae fon tht Bas SA) > 0 fa nt we 6, Prove tht Us) = O and Stor +9) =. Conde at SFU) = 0 fe CHAPTER 12 ROLEOF THE CRITICAL OnBIY 168 1. Compute SM(=) where 8, Le A bea in the previous exercise, Prove that S(M oP) = SF. 8. Give « formula fr S(F 0G » H)(2) in terms of SF,SC,SH and the teivatve of thee funetone 10, Compute the Schwarsan dvivatives of each ofthe lowing fonctions: aR) = tang F(z) = (sha) © Fla) =n") 4. Fla} = sfc = 2),CHAPTER 13 Newton’s Method One ofthe basi applications of ersion is Newton's method asia Algorithm fer Sndng rots of «function. In this chapter we combise easy ofthe iden of previous chapters t give a detailed account of tis ope 18.1 Basie Properties Consider the probe of yng ta Sad the rots ogee ftion F, that solving the equation Fz) ~ 0. Ara mel Lao ti mos ‘at be erie out wing algerie mathode chm fatrg oy & eg lass functions uch ow degree plyoomils. Pree fuetone oe Bat rect to mame methods Among the simples ells 5 Nevins method. This method (smntine ald the Nowenebeeng ‘the predicted onthe allowing len Suppers wo to noe toot zp, Chance ar that zy wl sa bon slo a he tio we ss sto produce a ae pot 21, mhich wil opty cnet hoot ‘Tee point nj determined fos 2 a flows. Draw the tee to {be erp of # at ce Fs). Urls neha nade te font eke, af 09 that Pet) = 0, tis angent lie ot boron ano ene the ai ata new point which we cll sy (Fig. 181) Thins ose hots fr srt of F. We then erate ts proclre:with the oe {spect wil eventual converge toa sot, Somtines this haps shown in Figure 19 ae ToS formula for i ems of 2, we est write down the equation forthe tangeat line tothe graph of Fai (ea Fca)) The slope cee CHAPTER 3 NEWTON'S METHOD 165 Hoy as Ae is Pp), Heaor the equation of the tanget line names the frm y= Plo) +5 eB i een om theft tat (eis on he in, Sb Be Flo) Flea). ence the tangent ine even by y= PeeXs~20)+ Fle) Now 2 x determined by seting y = O ani cving for 2. We Sad _ Hes) Fo100 pwuncar sysneus ‘This determiner 2) in terms of 9. To apply Newton's method we iterate this procedure, termining insucteton an - Ae) Fe) re) Fn) nd so forth. As shown in Figute 18.2, this sexuence of points z21,20 ‘Sometimes converges to 8 coat of ‘Thus we sv thatthe question of fading rots of F may be cect ae ' problem of ieaton, not ofthe function F, but tether of a sated fuetion called the Newton iteration funtion, Definition. Suppose F ea function. The Newton iteration fonction as0- lated to Ps the faction Ay, Meas~ Bey Example. Consider F(z) =? 1. This function has two root at = 41 ‘The associated Newton iteration Fonction Me) 2 2-3 (e+ 3) ‘The graph of i ployed in Face 193. Note that has two Bed pins, the roots af F. Not lz that grphielanalgsis shown tat tke ob of aay nonzero point under N converg one ofthese faa pists Hence Newton's method succeeds in this nui ve make any iia essay the coreesponding orbit of 29 uadee V tends to aoe af the ross of FOF outs ne badly needs Nestoa's neha fo thi simple exp, bat te ‘hoes istate how this eho works Jn the abowe example, the rots of Papper s the Bed point of ‘This no accident ax we willoce in a mcment. Dt st we need a dgrasion on the malty of «ros. Detnition. A root zy ofthe mation F(2) = 0 has malapicity bf Fics) = 6 but Pilg) 0. Hare Filey) ie the Edens oF od FAP cuapreR is eWroNS METWoD 167 Fig 29 Neos mathe ie Fe) ==. Foc example, 0 «root of yliplcty 2 for F(z) = 27 42° and of smugly I for F(e) = 42% Tecan be ahown that if zy i «foot of Iokiplicey for F, then F(x) may be writen inthe form hese @ iv m function that ha ao root at za. See exercise 11. IF F is ® ely then th lpi of wy rots always ite. Homever, these ‘recsample af futons with rots of infaite mali.” Newton's Fived Point Theorem. Suppove Fis «fonction and 1 iis tual Newton eration function Then xy is erst of Fof multipiiy EP only iy so 8 fd porn of -Boreover, sch a feed poi shoe ticting rf Supp for te mrnent that F(z) = 0 but F(z) A, tha i, the out fn ipl 2. Then we ave Nz) = 203i 8 Riel pont of 2. Convery, i N20) = 30 we mst also have Fiz0) "Toc that zy ian attracting fied pint, we vr Dh aint ue to Fears) en Fea? “Sense sf Ow = ee stowe tthe168 vvawansrsrens Again amusing Fc reting Bee pons “This proves the theorem subject to the special ssumption that (su) ¥ 0. I F(z) = 0, we have to work hace. Lt’ aupove thatthe toot has ‘muliplicity >In that the (¢~I)thdetrative ef F vise a bat the Kt dots not. Thue we may nite 0, we ee that (zo) =O that ay inden Fla) = (2=29)'6(2) where @ ie a fanetion that eats G(x) #0. Then we have F Se za)"G(2)+ (2 zo Cs) Fa) = A = fe ~ 20) Ge) + 24(2 ~ 29) 6s} + (2 aC", ‘Therefore, afer some cancellation, we hase (2-m)6(2) MO 2 Taare eT Hence N(zo) = 2, showing that roots of F correspond to Bed pits of 9 in ts case ax well Filly we compute fe) = MER MUG ae — 10) + ~ n'GEIC"Ce) EGTA) 2 — GTS] OE +e = OEY where weve factored out (e~ 24)" fom both maniertae ad enon ator Now G(2) 0,40, Men) "Ts, we agin ae thay an atesling fl pint fe N This empl the prot Example. Consider Flr) = 232 —1) a0 N(x) = 2 Lf, Note that 0 sad Lace oot, We compute F(t) =1, F(0) =0, bt (0) = 2 Hence N') =O wd X70) 1/2 The erp of Fad a decid a gre ‘CHAPTERS NeWTOWS METHOD 169 » ig 14 The bof Fle) = (aD and Ne) = 2 SEF 18.2 Convergence and Nonconvergence Newton's method, unfotuontely, does aot always convecge. That iy x ven nial gues need not lad vo a obit that tends to on ofthe ating {Era pint of which ae, bythe Newton Fixed Poiat Theorem, the roots oF. ‘ue problem that aces occurs when the function Fs not ifetinble at the ro. Example, Consider F(a) = 219. ‘This fonction isnot diferentabe theroot = 0. Note that N(z) = —2e, which hase repelling fixed point S10" Moceovey all other omits tend #2 laity. Hence we may have no oeegence if therein diferentaiy. ‘Assuming that i dtferetible nay til yield probleme. Po example swe knowl ireatialy poole for = danced este sich wat bas periodic evita which theeore do aot tend to eed pots As, We compute Pate as Example. Consider F(z) Me) ‘The graph of 2 x shown o Figure 13.5. Sepposo we make the natural but “nfrtuat nial queer xq-= Ie Then (1) = 1 and N(-1) = Teo that {Hills ona ele, Hence tis nil gues dor not lea to convergenceig 188 Nenons mated Fs) = 23 Se shoring Ble Note tht, inthis example, most other iil guess lend! to conve: sence. However, ty kappea that itera of intl puss lead Soe fnvergence, Example. Consider F(z) (= 124 + 4) for ret wales of A. We Bata GreHa~ Te Note that (2) = =I), so isan od function. As we sw easier, 1 has erica points nthe roots of F aad ale tthe pnts whee P(g) vaalses. Heac we nd that te posts Me) = sr cial points for W. n Figure 6, the enphat it shown nthe speci ‘se where A D.1970i7.... Mote tn inthis ea, cy hath oe ne vehich therefore must be atirctng, Hence thee isa open interval abock ‘ch ofthe points whowe orbits eonergs ta the 2eye, Ths, Newlon ‘method fist converge to root fo thee ini gucoee, ‘The exact value of A for which cy leon 2-eele i (29 ~ VFTB/21, a2 we ask you to ahow in exerce 8 However, it may happen that mont gucsc lea to convergence. This bappens, or example Fhe no tots. Example. Consider F(z) = #41. Obviously, F has no oot on th real ne. Dut let's ee what happeas when we aittpt to ae Mesto sation CHAPTER Is. NEWTONS METHOD 471 Fig 26 Neon hed wih an tating 2p snyway, The Newton itertion funtion je N(e) = [(2 — 1). Grape, Soalysis of 1 ie shown in Figure 13:7. Typical itl conditions vem to ea AGoctite that wander around thera lin ile. So we gel convergence (os rot, o8 we expected ti fr Fie) = 2241 In fet, Nis chaotic inthe sense of Chap 10, Recall the doubling Dis) (teen Yen1 aaszet ‘Az we saw in Chapter 10 (ee exrcie 20), tis function bev quite haat172 pwuuear sysneus . see Pern il 18.1 Ori Mente tod apd ose +I ale 1). Feally, Define ©:[0,2) 1 R by C(z) = cot(ra). Then we have CoD{2) = eae: Dix), ct(2e2) = contre) = sia"(ve) Bsiesbeoes) ‘Therefore the Newton tration Fnetion for Fz) = 2? +1 ls conju to cus ed the doubling fncion, Consuela the ne ‘One of the reso for the importance of Newtons th wt portance of Newton's meta i the peat th which t converge. Recall that fy aoot of P for whith Pea} eo, CHAPTER! NEWTONS METHOD 173 hen pia am attracting fixed pont for N with Nin} = 0- Fheed points ‘Thue deiative tO are called seprtiscting Bxed pois because nearby Ubi re siracted to them very quely. To Tole 15.1 we have sed the Shit of 100 fr the Newton eration fonction emocinted to both 2(= + 1), Sha s(c-42) Te te Bet case the exit converges api inthe second, TR eouvergt tO, but mt aes ax quickly. ‘The remon ie that Newion hated foro! bs supericuting fed pointe wheres, tthe root O fe Boe), we have 90) = 12 “There we many oles rcods for nding root of fenton and many cof them ole ieatinn, Mott methods nfl fom the decency thal hey Go notalvays work, Some methods, when they do converge, €0 20 mare fepily than others ‘The tadeoff is always how often an slgnitm works (Ge eBlceney) versus how quill t converge (ite speed), A fall tudy of the spn! and ficieacy of lgrithma to Bnd rots sone ofthe topics ofthe eld of mathemati known a numerical analysis Exercises 1, Use graphic! analyst degre completly all orbits of the associated ‘Newlon teation futon for whe t Fa)= 4-2 b RG)=z 2 © Fu)=2? a Fle) st Fett 6 Fa) =2/viee Bh Fla) = et 2, What happens when Newton's method is applied to F(2) 3, Find all feed points forthe arsited Newton eration function for Fla) = 2/(2 1)? when ne 1,23... Which ae attracting ad which are paling? “4 Consider the Newton iteration function fr F(z) = sec. What are the ‘Bea pint foc N? Docs this eontradiet the Newton ised Print Theos? Why oe why at? 5, Suppose P(e) and Q{z) are polynomials and lt F(z) = P(2)/Q(2). ‘inatzam be sui about the Ged pois of the asoriated Newton function for FP Which fed points ace itancting and which ae replica?1. A bifreation. Consider the family of functions Fy(=) =2° +p. Coal, FF has two roots when <0, one rool when = Oy ad no real toate whet > 0. Your goal in th exerci i to invetgat how the dati ofthe Asocated Newion iteration function changes asp changes 1% Sketch the grap ofthe mscited Newton iteration fonction Nin the thr cares #< 0, =O, and a> 0. by. Use graphical analysis to explain the dynumis of Ny when p< 0 cod p= ‘rove that if > 0; the Newion eration function for F iconugate to the Newton iteration feneGon for F vin the conjugacy H(2) ‘YB. Conclude thatthe Newton Ration function chase for foo 4. Find an analogous cnjugsy when 1 <0 7. A more completed breton. Consider the faily of fantins given by Gay=ote— +p 1 Sketch the graphs ofthe asocated Newton trio function Nin the thre cases > 0, = Oy apd yw <0. by, Use graphical analysis to digas the fate of all opt incase x = © Show that 2 has ecly one vital pit tha not Sed fo al Dot oe wale A. What ie the fate of the orbit of thie crit point when p> 0? Describe using gaphin nali Now consider the ease < 0. Ian esay, dessibe possible ates of| {he obit tha “ec eel pont Can ou find yl fo mich {his crit pint i erode? (This ean be done experimentally mith ‘ur iteration progenns) If hie erica poi ix periodic (not Seed) {ea given jal, wil con you conclude abut the eonvergene of Newton's rato” 18. Conder the function G(z) = 24 — =? ~ 1/98. ‘© Compute the ofetion points of. Show tha they aren points forthe associated Newton function 1b. Prove that chess two points i on 2 2ycle What can you sy about the convergence of Newions method fr 9, Uae ales to shetch the graph of the Newton iteration for Fle) (xt 1). Foc which -valuee dos this iration converge to a toot? 10, Prove tht thesia! point forthe Newton iteration function neo Med ison a2eyde when A 11. Prove that che eqution F(z) =D bara root of multiply # a 2 tnd only I Fe) maybe wens the for Fis}= (2-2) G2) where @ doesnot vith at 2p, Hint: Use the Toylr expansion of F abost > Le te) = exp -1/) is 4 Dand at 0) = 0 Comput he Nevin Beenie Nar 6 Wn can bn about he ed pit of 7 Wy do th os?CHAPTER 14 Fractals ‘ecaly, ther s 0 snoiton betes the eof danni toms ad rca geometry Dyan isthe sudo objets in maton och ts ieratv procanen cas te gometc seta ce sae ag However, thar brome apart i moet ens shat ost eat eis for dynamic systems are rsa Hor, fein to undarand cote Debatoe emp; we mast pe fo tndarand the promens ears eins Tete tpi ts agar, We hve we the poeta {rca te Cantor wen we dca te une png Sater 1. We wl ee macy soe sch ect wee aca see de bh Chapie tes 14.1 ‘The Chaos Gam cuapren ie actus 117 ‘That np isthe doit ofthe line Between py ad the chosen vste.* "To corinse, we agnn choie one of , B, ot C randomly and then lt ‘abe the midi ofthe line egrentDetwen p nd the cues vere [rasal, prot obained fen pe silty “The soquence of points ppp: u wus called he orbit of ge. Aa vw enydyoumia pete the Guaton is what is theft ofthe rb Under thio tration? Tt sppeat thatthe answer to thin question would be Sealy dependent upon which soqiene of vertiow we choos. For example, ‘Hove always chonee A a he vertex (hardly random coi!) chen fit ‘Sear tbat the pr splycoavege to A. If we alvape choose verter, then hep aaverge to B. Dre of the amazing surprises inthis gue isthe fact tht, a longa we make caadom choices of A,B, and C the fate ofthe obit of py doesnot epeaon thove choices or onthe elo ofp. Ive shoore any iii! mad Sacer, he ort tends (with probably 1) to the sare et. Tn Figure TEL we ave daplayed the revltsof randomly iterating this procedure 20000 time (We have net pictured he Bit 80 pst on thio otal only the trentut!behaioe how). Note tho itiente shape of the rein obi ‘This fice, called the Steps angle orga, a Snaieal example of fractal Fig 1 Te Spit tageATS Dywauicat susrens Benoit B. Mandelbrot 305, nt and (104) aba ht eoet te bjt tte te Cara th Spi angi ‘eet mara pal Rat thas com ‘eng tte jan mature ch cine od Citra incl tami i ha dey 0 Ste tote Can ‘There are a uber of diferent defiitions of fractals that are curently in ue. We pels the flowing defen Definition. fractal i «subset of RY whih is zefsinilar and whose Fractal dimension exetde its topological sension Obviously, some erm in thie defen ec expaation, We wl ee that the tal itso 0 nel oe ane Ui wl nse Site carl explanation wel We vl saberne ena eoncept is fat ging three laid explo ca en ‘We sat empasa hatter ce nny ter posile itons of fetal npr, there iy ois pole rat ele sion ofan, nding Haus dnaton, cept dane teeety dimension co oes We wil conn fe enya sone ot thee mtons fractal dinenton, 14.2 The Cantor Set Revisited We begin the study ofthe geometry of racial sets ly omit thre inportant examples. The fst ean ald fsend, the Cantor nate ieseseh We have ser already that sets ite this orur naturally ase hate pine forthe quadratic family Q(x) = 3? te when ¢ <2, Recall tnt the Cantor middle third set in abtained ty asco ‘moving open mile hid of nterals fom the unitinterval. The proce is depleted in Figure 142. Th, 12 Conzton of the Cao nied (Ope of the most important propertin of a fractal i known as sl! inularity. Roughly epeling, elGeicuacty meena if we examine stall por ion ofthe set under a mcrreoe, the image we se resemblis oor original set, Tor example, lok clwely at C. Note that C anay be decompoced into to ditinetsubete, the portion of Cin (1/8 andthe portion in 2/3 Ie we examine cach of there pcos, we so that theyreannble the orga (Cantor act C. lnded, each obtained by reioving midlet of iter tals: The only difrence the orignal intervie by a factor of 1/3 ‘Thus, if me magnify each ofthese portions of © by a factor of 8, we obtin the orignal se, More precisely, to magniy these potions of C, we use aa fine trons formation. Let L(s) = 3e. It we apply L to the portion of Cin 01/9, ‘we oe that Emap this orton onto the etize Cantor st Indeed, maps {0/0,2/0 to 1/8, 2/9), (0/22,2/29] to [19,279 and ao forth (Fig 143), ich ofthe gap isthe portisn of Cin [1/3 taken by Lo » gap in C. ‘That, the "mucrweope” we use Lo magnify C1 [1/3 jst the fine transfrmation (3) "To magnify the other balf of C, namely C231}, we wse another afiae tcacafcmation, R(a) = 32 ~ 2, Note that (2/3) = 0 and BU) = 2 0 thes (2/31 Ener onto [1]. As with L, takes gape in C [2/31]: ape C120 Ragain mags a smal porion of C to give the ent st, Using more powerful microscope" we may magnify acbiterily small portions of C to ive the entire st” For example the portion of C in [0.1/5 aetfdecompore into two stile pce one i [02/9] and ‘one in [2/,1/3) We may magnify the let pectin via Zy(z) = Sz to yd© ad the sight postion vin Rs(2) = 9 ~ 2, Note that fy sane (20,1/3) ‘ota nearly roquived Note also that, atthe ni stage of the construction of C, we have 2° tena opis of C, cach of wich ay be magnifed byw factor of 310 yield the elite Cantor st 143 The spinski Triangle Now let's consider another fatal et, the Sisxpinei rangle (wnetines called the Sips gasket), which we eoeountred while plying th chor tame Lethe Cantor idle thirst this bet nny als be obtained En lnfite quence femoral.” Deg with the equlateral tingle shown in Figure, Thea remove om the middles tangle whore dimensoneate ‘xa bal that of the orginal ingle, This lanes tvee smal equilateral {ranges enh of whih has dineavons one-half the dimension ofthe aii teange Now cota this proce, Remove the middle portions of ec af the eaiing tana leaving sine eulateral tangles nd ofr The revllng image after etcring this provndure to the inti denoted and Sealed the Serine range. This esunly the sine at dled Figure 141. Note how the same image iy be obtana in two emalbly diferent aye va the determine roca of removing sviangies a above sed lz via the probabilistic methods ofthe hoe gue Like the Castor middlethirds wt, the Sitrpinetteianle isso sl simile, This time, however, the magnifenion factor is 2. For empl iter removing the mile equilateral tanagle in the fs scp ofthis ton Steutioo, weare eft with thre smaller opie of, each af whote dinasons te oneal the dimension ofthe entie tingle. At the nth singe of thie HAPTER RacTats 181 Aka sy fs, AAAA Ady conrtructon, we have 3 Sepia triangles each of which nny be maid Spa letor of 2" toyed the entire set "There are many fatale that suny be constructed vin vacations on this theme of infinite removals. For example, we sony conscuct nse ae by begining with argh trnggle, nfo Figise 143. Another facta che “or” facta is obtained by succemively removing aquars whore sides ae leh a loog a5 thei podecessor, ae shown in Figure 149 and 1a mi Note that both of thee ats are connected If we em age rangle cor aqunresat each sag, then the ravlling wt ftallyGsconnected sn182 pyaar sveneNs the ate of the Cantor midlets at 14.4 ‘The Koch Snowflake Unlike the Sinrpinai tingle, the Koch snowoke is geerated by ea infinite mucemon of additions ‘This tine me begin with the boundary of sp equilateral tial with des of length 1-'The ft stp fn the provers, 1S to remove the mil thd ofeach side of the triangle, jst ue we de the construction of the Cantor set. ‘This time, hevet, we selnce enc of Sheps wth tro pee of ul length ging te sar ahaped ei peed in Figure 108. "Ths now fgse betwee se, cach of leat} Now we tects this procs. From each of ther sides we semove the middle ‘Bird and replace i thw angular “bulge” made of two pice of length 179. The ror in alo shown i Figure 14.8 We conto tis proces over and ovr, The ulinate rel is» curve ‘hati ininitely wiggly thee reo sleight fines a It whateseer, Ths objet called the Koch anowlake. age Oe Cen here sre pieces of the sofia that are slime. Suppose me sok ato se ofthe anowfiake, What we sei called the Rech cove and depicted in Figure 140, If we examine one tir ofthis edge and magily his postion by for of, me agi ee the eune Bure. Note that there ently four pines of the soowfale's edge tint, when magnied by & factor of and pomsly rotated), ld the emize edge af the snow ae 7 At cach stage ofthe construction of the Koch curve, magnification by @184 pveaMar sysreus factor of isthe previous image. A fre, this mans tat the uate gure selina “This facta snake has en amavog geometic property It hs Site se ba ite perimeter infil! ‘This mean thal we en pit th ode ‘ofthe Koch snordiake, but we can never wrap = lngih of sting cround its boundary! This i ite « entra to the uel shapes encore in ‘gomety uch a squares and Grcen, which have Gite arn end peste, "To se why thin i ue let Ny, Ny, dente the numberof des of the monde tthe ereesponding stage of the eocsrution. We Ba Mea Maea=2 Meee es Meas atta ‘hae mais eg ey QIK Fr xml Mes 968 ie lorlat comgat ratte, Lt he hgh fe pct af the perimeter afer the Kh stage tthe bgnnngs ease ae ge I alter the ert dion, each sie elon 1/8 er he rend ech das length 1/3, advo orth. We Bud ha, he stage, nek Now ket Pb the peimeer fe Su at the Lt tgs, Cle, Ph = Ne La, 80 wo have “ Aamehetad Hence Pk 90 a8 00, "The ace contined withia Uh anowfiak i te diel o compte, but you can cui check using plane geomety tht the sponte contained Within a square the plane have sides have gth 2V8/3. Thee his en is etn les eh 9/3 14.5 Topological Dimension As weave sua in the previous three section, ane ditinguishing feature fa rat i sltsority. Bash f the Centar st the Sterns ian fa the Koch snowfinke shares thie property. But vo done and squares tu cubes thes familia gee om Bulidenn geometry ae alse sir For example a tine rogment ray obviously be subdivided into small: ubinteile of equa length cach of which may be tugaied by a fetor of 5 toyed the cnpoal line sagen. So wht istngsihescomplisted sts ‘he Cantor ssa and Skepinels tangles fom lines and panes? ‘The asower father mension ‘There eno question that a ie is one-dimensional Sic, a square ‘is twordieosonn, and cube i three dimesionl. Navely speaking, the fesmoa forthe ze obvious. ‘There is only one “ineseyindependeat™ i fection to move along a line (backwards and forwards), two dierins ia & ‘Sunse(legth and width) and tre dizecGone neue (length, width, ana Tih). So thes gues have dimensions 2, and 3 repectively But what ‘Se meaion of he Srpoatinnngle? Sosa i sean thatthe 2 gle as dimension [afterall we have removed ll ofthe plana regions ‘nthe other hand the Sepia snag cary mich more compleated than s typical one-dimensional objeet ikem ine ot a curve Alen me ean {oven the Stepinet rangle in many dections-aot ast but ees We cannot moe in every pla ietin. So wht then i the dimension of the Sierpinski tingle? At ines this gue seers one-dimensional at other times i sens two-dimensional. A sie expertet to perfor i to Yake tole unong your chamater a ta wha! i the dimension of tis gue: ene ‘or ivo. If yu average the resale youl ae thatthe anawer is somewbeee ia between Tend 2. Many people my tht the Sicepinshi triangle is to flmensona, but «iene inert voter for ape-nensona. The votes thy chews cen vonage 16 ery fearly the aceurte "ncaa "The point i that them fatal image donot At went nto any of ou pve oneived notions of dntenson, eo we must Best reealate what dieasin ttenns before asigoing x denon toast. ‘One ofthe erudat nesuremeets of dimension ithe notion of topolog fea dimension. This dimension agree with ut nhive expectation that » fet should have an integer dimension. We den the topological dimension Inductively188 breatcur sysreus Definition, A set Shar tptaia mension Oifevery pot ha arial small ighbochoode whose boundaries do at intent the et For examples acatter of inated points hs topologies! dimension 0 since each pont maybe surrounded eebitewly mall eghborkoods whose boundaries are dint fom the st (ee Figure 1610). In patel, tae Cantor mile chide net has topolgiea diension O sine any tw pain (Care sparatd by at lent oo gap inthe Cantor set, aoe ae Aly tanta Mi Ha Ame wt ‘To define topological dimension k, we ute induction Definition. A st 5 has toploia dimension kif enc poo in Shas abi lua small neighborhonds whose boundases set n't set of dneaion Sty and fi the lent nonnegative integer for which this hols For example, line segment in the plane has topological dimension 1 ‘nee coll dks inthe plane have boundaries at raet the linen ne of tw points ‘Sniary a planar region has topological dineasion 2 bocce ole ia the set ave arbitrarily small egiushoods whow boundaries te ‘oe dimensional ar depict’ in Figure 11. ‘What about ‘the Sips tingle? As shown in Figte 14.12, we sy surround points in P with arity small ml that et T nay Sitly ‘many points Hence T has topslgial ncn 1 14.6 Fractal Dimension [A more sensitive nation of dimension ie proved by fact! dimension (sometimes elled smarty Ginenion) otal sete haven well dened fractal dimension: we wll coalder ony thoae sets That do, nace, the Uae ace aie sls, cAPTER FRACTALS 187 ” ett ena » ‘Weenie obese ig YL A wt with tegen 1,92 Fig MAD Fa seated mathe Spin Tangle in ies 2 ne Defuiton. A st Sie ealled afin selfsmilar i S canbe subdivided into Fr sagrvent ext, eich of which ay be mage by x ennatant Factor A ta gil the whale tS. ‘ote that ll ofthe sets eonsidorod eae in this chopter ae aie sth sini. Ato the line the plose, and the cube are aie sesiilar, We fy nose th ett provide diferent sation of dines, fer one way Veale that these objets have diferet dimensions i todo the following A lie i vexy elie object: Tt may be dovompord atom = mite