Cylinder Maps and the Schwarzian

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1 Cylinder Maps and the Schwarzian John Milnor Stony Brook University ( Bremen June 16, 2008

2 Cylinder Maps 1 work with Araceli Bonifant Let C denote the cylinder (R/Z) I. (.5, 1) fixed (0, 1) fixed F (x,y) (3x, f x (y)) (0, 0) fixed We will study maps F(x, y) = ( kx, f x (y) ) from C to itself, where k 2 is a fixed integer, where each f x : I I is a diffeomorphism with f x (0) = 0 and f x (1) = 1, and where the Schwarzian Sf x (y) has constant sign for almost all (x, y) C.

3 Schwarzian derivative 2 The Schwarzian derivative of a C 3 interval diffeomorphism f is defined by the formula Sf (y) = f (y) f (y) 3 2 ( f ) (y) 2 f. (1) (y) On the left: Graph of a function q a (y) = y + ay(1 y) (a = 0.82), with Sq a < 0 everywhere. Middle: Graph of y 3y/(1 + 2y), with S 0. Right: Graph of q 1 a (y), with S > 0 everywhere.

4 The Transverse Lyapunov Exponent 3 Let A 0 = (R/Z) 0 and A 1 = (R/Z) 1 be the two boundaries of C. The transverse Lyapunov exponent of the boundary circle A ι can be defined as the average ( ) dfx Lyap(A ι ) = log (x, ι) dx. dy R/Z Let B ι = B(A ι ) be the attracting basin: the union of all orbits which converge towards A ι. Standard Theorem. If Lyap(A ι ) < 0 then B ι has strictly positive measure. In this case, the boundary circle A ι will be described as a measure-theoretic attractor. However, if Lyap(A ι ) > 0 then B ι has measure zero.

5 Schwarzian and Dynamics 4 Lemma. Suppose that Sf (y) has constant sign ( positive, negative or, zero) for almost all (x, y) in C. If Sf > 0 almost everywhere, then f (0)f (1) > 1. If Sf 0, then f (0)f (1) = 1. If Sf < 0 almost everywhere, then f (0)f (1) < 1. Corollary. If Sf x (y) has constant sign for almost all (x, y), then Lyap(A 0 ) + Lyap(A 1 ) has this same sign. For example, if Lyap(A 0 ) and Lyap(A 1 ) have the same sign, and if Sf x (y) < 0 almost everywhere, then it follows that both boundaries are measure-theoretic attractors.

6 Negative Schwarzian 5 Standing Hypothesis: Always assume that Lyap(A 0 ) and Lyap(A 1 ) have the same sign. Theorem 1. Suppose also that Sf x (y) < 0 almost everywhere. Then there is an almost everywhere defined measurable function σ : R/Z I such that: (x, y) B 0 whenever y < σ(x), and (x, y) B 1 whenever y > σ(x). It follows that the union B 0 B 1 has full measure. More generally, the same statement is true if the k-tupling map on the circle is replaced by any continuous ergodic transformation g on a compact space with g-invariant probability measure.

7 Schwarzian and Cross-Ratio 6 The proof will make use of the cross-ratio ρ(y 0, y 1, y 2, y 3 ) = (y 2 y 0 )(y 3 y 1 ) (y 1 y 0 )(y 3 y 2 ). We will take y 0 < y 1 < y 2 < y 3, and hence ρ > 1. According to Allwright (1978): Maps f x with S(f x ) < 0 almost everywhere have the basic property of increasing the cross-ratio ρ(y 0, y 1, y 2, y 3 ) for all y 0 < y 1 < y 2 < y 3 in the interval. Similarly, maps with S(f x ) 0 will cross-ratios; preserve all such and maps with S(f x ) > 0 will decrease these cross-ratios.

8 Proof of Theorem 1 7 Since each f x is an orientation preserving homeomorphism, there are unique numbers such that the orbit of (x, y): 0 σ 0 (x) σ 1 (x) 1 converges to A 0 if y < σ 0 (x), converges to A 1 if y > σ 1 (x), does not converge to either circle if σ 0 (x) < y < σ 1 (x). Thus, the area of B 0 can be defined as σ 0 (x) dx. Since this is known to be positive, it follows that the set of all x R/Z with σ 0 (x) > 0 must have positive measure. On the other hand, this set is fully invariant under the ergodic map x kx, using the identity σ 0 (kx) = f x ( σ0 (x) ). Hence it must actually have full measure. Similarly, the set of x with σ 1 (x) < 1 must have full measure.

9 Proof of Theorem 1(continued) 8 To finish the argument, we must show that σ 0 (x) = σ 1 (x) for almost all x R/Z. Suppose otherwise that σ 0 (x) < σ 1 (x) on a set of x of positive measure. Then a similar ergodic argument would show that 0 < σ 0 (x) < σ 1 (x) < 1 for almost all x. Hence the cross-ratio r(x) = ρ(0, σ 0 (x), σ 1 (x), 1) would be defined for almost all x, with 1 < r(x) <. Furthermore, since maps of negative Schwarzian increase cross-ratios, we would have r(kx) > r(x) almost everywhere. This is impossible!

10 Proof of Theorem 1 (conclusion) 9 The inequality 1 < r(x) < r(kx) would imply that dx dx < r(kx) r(x). R/Z R/Z But Lebesgue measure is invariant under push-forward by the map x kx. It follows that φ(kx) dx = φ(x) dx for any bounded measurable function φ. This contradiction proves that we must have σ 0 (x) = σ 1 (x) almost everywhere. Defining σ(x) to be this common value, this proves Theorem 1.

11 Intermingled Basins 10 For any measurable set S C, let µ ι (S) be the Lebesgue measure of the intersection B ι S. When Theorem 1 applies, µ 0 and µ 1 are non-zero measures on the cylinder, and have sum equal to Lebesgue measure. Definition. The two basins B 0 and B 1 are intermingled if µ 0 (U) > 0 and µ 1 (U) > 0 for every non-empty open set U. Equivalently, they are intermingled if both measures have support equal to the entire cylinder. (Here the support, supp(µ ι ), is defined to be the smallest closed set which has full measure under µ ι.)

12 Example (Ittai Kan 1994) 11 Let q a (y) = y + ay(1 y), and let a = p(x) = ɛ cos(2πx), with 0 < ɛ < 1. Theorem 2. If k 2, then the basins B 0 and B 1 for the map ( ) F(x, y) = kx, q p(x) (y) are intermingled.

13 Proof of Theorem 2 12 Lemma. Suppose that there exist: an angle x R/Z, fixed under multiplication by k, and a neighborhood U(x ) such that f x (y) < y for all x U(x ) and all 0 < y < 1, and an angle x + R/Z, fixed under multiplication by k, and a neighborhood U(x + ) such that f x (y) > y for all x U(x + ) and all 0 < y < 1. If Sf x < 0 almost everywhere, and if Lyap(A ι ) < 0 for both A ι, then the basins B 0 and B 1 are intermingled. ( ) Kan s example F(x, y) = kx, q ɛ cos(2πx) (y) satisfies this hypothesis for k > 2, since the angle k-tupling map has fixed points with cos(2πx) > 0, and also fixed points with cos(2πx) < 0. For the case k = 2, we can replace F by F F in order to obtain a fixed point with cos(2πx) < 0. Thus this Lemma will imply Theorem 2.

14 Proof of Lemma 13 Note that the support supp(µ ι ) is a closed subset of C, is fully F-invariant, and has positive area. We must prove that this support is equal to the entire cylinder. To begin, choose any point (x 0, y 0 ) supp(µ 0 ) with 0 < y 0 < 1. Construct a backward orbit (x 2, y 2 ) (x 1, y 1 ) (x 0, y 0 ) under F by induction, letting each x (k+1) be that preimage of x k which is closest to x. Then this backwards sequence converges to the point (x, 1).

15 Proof (conclusion) 14 (x-, 1) Since supp(µ 0 ) is closed and F-invariant, it follows that (x, 1) supp(µ 0 ). Since the iterated pre-images of (x, 1) are everywhere dense in the upper boundary circle A 1, it follows that A 1 is contained in supp(µ 0 ). But if (x, y) belongs to supp(µ 0 ), then clearly the entire line segment x [0, y] is contained in supp(µ 0 ). Therefore supp(µ 0 ) is the entire cylinder. The proof for µ 1 is completely analogous. This proves the Lemma, and proves Theorem 2.

16 2. Postive Schwarzian: Asymptotic Measure 15 Now suppose that Sf x > 0 almost everywhere. We will see that almost all orbits for the map F(x, y) = (kx, f x (y)) have the same asymptotic distribution. Definition. An asymptotic measure ν for F is a probability measure on the cylinder C such that, for Lebesgue almost every orbit (x 0, y 0 ) (x 1, y 1 ), and for every continuous test function ψ : C R, the time average 1 n ( n 1 i=0 ) ψ(x i, y i ) converges to the space average C ψ(x, y) dν(x, y) as n. Briefly: Almost every orbit is uniformly distributed with respect to the measure ν.

17 Positive Schwarzian: Proof Outline 16 Theorem 3. If Sf x (y) > 0 almost everywhere, and if Lyap(A ι ) > 0 for both A ι, then F has a (necessarily unique) asymptotic measure. Proof Outline. Let S k be the solenoid consisting of all full orbits x 2 x 1 x 0 x 1 x 2 under the k-tupling map. Then F lifts to a homeomorphism F of S k I. Here F maps fibers to fibers with S > 0. Therefore F 1 maps fibers to fibers with S < 0. Hence we can apply the argument of Theorem 1 to F 1.

18 Outline Proof (conclusion) 17 In particular, there is an almost everywhere defined measurable section σ : S k S k I which separates the basins of S k 0 and S k 1 under F 1. Let ν be the push-forward under σ of the standard shift-invariant probability measure on S k. Thus ν is an F-invariant probability measure on S k I. Assertion: ν is an asymptotic measure for F. Since almost all points are pushed away from the graph of σ by the inverse map F 1, it follows that they are pushed towards this graph by the map F. Now push ν forward under the projection from S k I to C = (R/Z) I, This yields the required asymptotic measure for F.

19 Example 18 Let F(x, y) = ( kx, q 1 ɛ cos(2πx) (y) ) points of a randomly chosen orbit for F.

20 3. The Hard Case: Zero Schwarzian 19 Suppose that each orientation preserving diffeomorphism f x : I I has Schwarzian Sf x identically zero. Such a map is necessarily fractional linear, and can be written as ay y with a > 0. (2) 1 + (a 1)y Here a = a(x) = f x(0) is the derivative with respect to y at y = 0. Note that each f x preserves the Poincaré distance d(y 1, y 2 ) = log ρ(0, y 1, y 2, 1). Hence, by a change of variable, we can transform this fractional linear transformation of the open interval into a translation of the real line: Replace y by the Poincaré arclength coordinate y t(y) = log ρ(0, 1/2, y, 1) = log 1 y. The map (2) then corresponds to the translation t t + log a. (3)

21 A Pseudo-Random Walk. 20 Using this( change of ) coordinate, the skew product map (x, y) kx, f x (y) on (R/Z) I takes the form (x, t) mapping (R/Z) R to itself. ( ) kx, t + log a(x), Think of the k-tupling map as generating a sequence of pseudo-random numbers log a(x), log a(kx), log a(k 2 x),.... Then the resulting sequence of t values can be described as a pseudo-random walk on the real line. The condition that Lyap(A 0 ) = log ( a(x) ) dx = 0 R/Z means that this pseudo-random walk is unbiased.

22 Conjectured Behavior 21 Suppose that Sf y 0, with Lyap(A 0 ) = Lyap(A 1 ) = 0, and with f x (y) y, then we conjecture that almost every orbit comes within any neighborhood of A 0 infinitely often, but also within any neighborhood of A 1 infinitely often, on such an irregular schedule that there can be no asymptotic measure! More precisely, for almost every orbit we have (x 1, y 1 ) (x 2, y 2 ) (x 3, y 3 ), lim inf y y n n = 0 and lim sup y y n n = 1.

23 Intuitive Argument 22 The corresponding statement is known to be true for an honest random walk on R, where the successive steps sizes are independent random variables with mean zero. Conjecturally, our pseudo-random walk must behave enough like an actual random walk so that this behavior will persist. THE END

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