MEAM 535

University of Pennsylvania
1
Geometric Theory of Dynamical Systems
Poincare: Two Key Concepts
State space
Phase portrait

=
q
q
x
q
q
q
q
n
&
,
.
2
1
State (mechanical systems)
q describes the configuration
(position) of the system
x describes the state of the system
Phase Portrait
Trajectory q&
q
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University of Pennsylvania
2
State
Actual (internal) state of the system
Mathematical model requires an idealized state
The idealized state must be observable (in order for results to be practical)
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3
Modeling: State
Ear
Attitude
Fang Exposure

=
2
1
q
q
q
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Modeling: State
Ear
Attitude
Fang Exposure
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5
State Space and Time
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6
Position and Tangent Vectors
C
V V=C/T
V tends to the tangent
vector as T tends to zero
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7
Vector field
Trajectories
State space + trajectories in state space = phase portrait
Vector Field
( ) x f x = &
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8
Integral Curve
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9
From the vector field to trajectories
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10
Assumption: Vector fields are smooth!
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11
Examples
Discontinuous (obviously non smooth)
Continuous but non smooth
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12
Critical Point
Critical points are equilibrium points.
The critical points of the vector field, f(x), are found by solving f(x)=0.
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13
Vector Field near a Critical Point
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14
Integral Curve
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Limits
Limit points
Limit cycles
Limit sets
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16
Limit cycles
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Limit sets: Beyond limit points, limit cycles
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18
Critical point (limit set) and insets
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19
Limit sets
- limit set
limit set
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20
Limit sets (continued)
- limit set
limit
set
- limit set
Inset of a limit set - initial states that end up at the same
equilibrium state (or trajectory).
Outset of a limit set - initial states that end up at the same
equilibrium state (or trajectory) if time were reversed.
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21
Attractors are limit sets with open insets
Static Attractor
The inset contains a disk around the
critical (limit) point. Every initial
point in the neighborhood of the
critical point will approach it.
Periodic attractor
The inset contains an annulus
around the limit cycle. (Almost)
Every initial state in the
neighborhood of the limit cycle will
approach it.
MEAM 535
University of Pennsylvania
22
Separatrix
Limit Cycle
Limit Point
Attractors, Basins, and Separatrices
Two attractors, one separatrix,
and the basin for the limit point
Any point not in a basin belongs to a separatrix
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University of Pennsylvania
23
Attractors, Basins, and Separatrices
Limit Points (Attractors)
Vague
attractor
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24
Gradient Systems

x
( )
( ) x
x f x
=
= &
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25
Example of (x)
(x) = x
4
/4 +2x
3
/3 3x
2
/2 + y
2
/2
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26
Equi-potential curves
(x) = x
4
/4 +2x
3
/3 3x
2
/2 + y
2
/2
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University of Pennsylvania
27
Contour Plot
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28
Contour Plot
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29
Vector Field and Trajectories for a Gradient System
( )
( ) x
x f x
=
= &
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30
Phase Portrait for a Gradient System
2 attractors
1 separatrix (including a
saddle limit point)
x = -x
3
2x
2
+ 3x
y = -y
(x) = x
4
/4 +2x
3
/3 3x
2
/2 + y
2
/2
MEAM 535
University of Pennsylvania
31
Geometric Mechanics
This was just an introduction!
Very rich field
Allows qualitative studies
Much of the underlying mathematics has been developed in the last
century
Poincare (1854-1912)
Lie (1842-1899)
Lyapunov (1857-1918)
Abraham and Shaw provide a pictorial, easy-to-understand introduction!