ETNA Electronic Transactions on Numerical Analysis. Volume 27, pp. 156-162, 2007. Copyright 2007, Kent State University. ISSN 1068-9613. Kent State University etna@mcs.kent.edu PERIODIC POINTS OF SOME ALGEBRAIC MAPS VALERY G. ROMANOVSKI Abstract. We study the local dynamics of maps branch of the algebraic curve where is an irreducible $% $ % !#" *+ $ &%'() We show that the center and cyclicity problems have simple solutions when partial results are obtained. , is odd. For the case of even , some Key words. discrete dynamical systems, polynomial maps, periodic points AMS subject classifications. 37F10, 58F, 13P 1. Introduction. Consider a map of the form (1.1) @BFDCHG 4!IJLK -/.103254768:9;4<9>? = @ 4 @BADC(E Denote by 0NMO2QPRIS6 the P -th iteration of the map (1.1). D EFINITION 1.1. A singular point 4!.UT of the map (1.1) is called a center, if VXW<Y T such that Z 4 [N\ 4 \7] W the equality 0^&25476_./4 holds, and a focus otherwise. Clearly, if the right hand side of (1.1) is a polynomial, then 4 .1T is a center if and only 3 0 ` 2 if 46_8a9;4bK D EFINITION 1.2. A point 4Hc Y T is called a limit cycle of the map (1.1) if 4c is an isolated root of the equation 0 ^ 254769d4X.eT(K In the other words, a limit cycle is an isolated 2-periodic point of (1.1) [5]. Consider the equation @ l f 2`4 G -g6h.g-jik4gi ? l m 4 - m .pT G (1.2) l FnmhA ^No G G where l m - 4IJ . Obviously, (1.2) has an analytic solution of the form (1.1), o -/.r03q 25476_.U9;4si/KKtKuK (1.3) D EFINITION 1.3. G We say that the polynomial (1.2) defines (or has) a center at the origin f if the equation 254 -g6v.wT has a solution (1.3) such that the map 0 q has a center at the origin, and we say that (1.2) defines a focus at the origin, if 0 q has a focus. Thus, the problem arises to find in the space of coefficients x l mBy the manifold on which o the corresponding maps 0 q have a center at the origin and to investigate the limit cycles bifurcations of such maps. For the first time this problem has been stated in [8]. As should be z Received May 23, 2003. Accepted for publication November 26, 2003. Recommended by A. Ruffing. This work was supported by the Ministry of Education, Science and Sport of the Republic of Slovenia and the Nova Kreditna Banka Maribor. CAMTP–Center for Applied Mathematics and Theoretical Physics University of Maribor. Maribor, Krekova 2, SI-2000, Slovenia (valery.romanovsky@uni-mb.si). 156 ETNA Kent State University etna@mcs.kent.edu PERIODIC POINTS OF SOME ALGEBRAIC MAPS 157 remarked the center-focus problem and the problem of estimating the number of limit cycles near 4X.eT (cyclicity) for the map 0 q are similar to the corresponding problems for the second order system of differential equations{ { .U9~}<ik2| G }(6 G | }.p|Xij25| G }(6 G where and are polynomials. One possible way to investigate the behavior of trajectories of the map (1) near the origin is a transformation to the normal form [1, 6] 4 9;4N2i C 4 ^ i ^ 4 ie6K If the first coefficient which differs from zero, is and if 7 Y T then 0 ^ 2`46_./4gijB 4 ^ FDC ik52 4 ^ FDC 6 G which implies an unstable focus at 4.eT , otherwise, if ]jT the focus is stable. Another possible way, suggested by Żoła̧dek [8], is based on making use of Lyapunov functions. Namely, for the map (1.1) it is possible to find a Lyapunov function of the form 2`46_./4 ^ 2i>? = 4 6 ADCN with the property 2`032547669 25476_.p &4 i 4 iei ^' F ^ iptK ^ ^' 4 It is shown in [7] that if ^ .T for all IeS then the map (1.1) has a center in the G . T then 4X./T is a stable focus, origin (with 0 ^&2`46_814 ), and if ^ .KKtK.e ^ H ^ .1T ^ ¡1 ¢ ] T T when ^ , and an unstable focus, when ^ Y . To investigate bifurcations of limit cycles of the map (1.1) one can also find the return £ (Poincaré) map (1.4) 25476_./0 ^ 25476_.e4gi¤P ^ 4 ¥i¤P 4 ietuK ¥ We call the coefficient P of the return map (1.4) the ¦ th focus quantity. All focus quantities are polynomials in coefficients of (1.1). The case of the cubic polynomial f 254 G -g6_./4sik-ji§g4 ^ ik¨4-kik©ª- ^ ik«v4 ¥ ik¬­4 ^ -jik®¯4&- ^ i°<- ¥ G G G G where § ¨ KKK °±I² , was considered in [8, 7]. In this paper we consider maps defined by (1.2) in the form of the sum of the homogeneous linear polynomial -jik4 and a homogeneous polynomial of the degree ³ , that is, @ @ m - m .pTbK f´ @Bµ 254 G -g6.e-jik4si ? @ m'¶ m 4 (1.5) mhA c o Here and below the superscript 2 ³ 6 denotes the degree of the polynomial in (1.5) and indicates the focus quantities relevant to (1.5), so f´ ^ µ 254 G -g6.¢-·ik4si ^ ^ G (1.6) ^ c4 i C'C 4-ki c ^ o o o ETNA Kent State University etna@mcs.kent.edu 158 VALERY G. ROMANOVSKI f´ ¥ µ 254 G -ª6.¢-·ik4si C ^ 4 - ^ i c ¥ - ¥ K o o o ´ ^ µ G ´ ^ µ G KKK ´ ¥ µ G o ´ ¥ µ G KKtK Correspondingly, P ^ P ¥ , are the focus quantities of (1.6), P ^ P ¥ , are the focus quantities of (1.7), etc. To compute focus quantities of (1.5) we first look for the branch of the f ´ @Bµ 254 G -g6 -1./032`46 of the algebraic curve passing through the origin (that is, for a function f ´ @Bµ 254 G 032`46h638/T form (1.1) such that ). Then, the coefficients of the Taylor expansion of the ´ @Bµ G P ´ @&µ G KKtKuK second iteration of 0325476 are the focus quantities P ^ For example, (1.6) implicitly ¥ defines the function -/.103254763.a9;4<9¢2 c ^ 9 C'C i ^ c64 ^ 9¢2` c ^ 9 ChC 6u2 c ^ 9 ChC i ^ cH64 ¥ ipKtKKK o o o o o o o o The second iteration of 0 is (1.7) 0 ^ .e4<9(2 ^ c;9 c ^ 6u2 o o fo so the focus quantities of P ´ ^ µ .U9s(2 ^ c;9 c ^ 6u2 ^ o o o and so on. ¥ c 4 ¥ i ^ ^ C 4 -ji c ^ 9 C'C i ^ cH64 ¥ · 9 2 ^; c 9 o o o ´^ µ o are G P ´ ^ µ .a­ 9 2 ^ c;9 ChC i c ^ 6 ¥ o o o c ^ u6 2 c ^ 9 ChC i ^ cH6 ^ 4&ieKKtK G o o o ^ c~9 c ^ u6 2 c ^ 9 ChC i ^ c6 ^ G o o o o 2. The cyclicity of maps defined by (1.5). Denote G the real G space G polynomial (1.5) by ¸ , the ¹ -ball centered at º .»2 @¶ c @ C¼¶ C KtKK c ¶ @ o º .À2 @7¶ c o G @ and let 0q ¿ be the map (1.3) corresponding to a giveno point o o the parameter space, that is, (2.1) of coefficients of 6ªI ¸ by ½_¾ 2 º 6 , C¶ C G KKtK G c ¶ @ 6 of o 0 ¿ .a9;4N2_i ? = 2 @7¶ c G @ C¶ C G KKK G c ¶ @ 64 6K ADC E o o o D EFINITION 2.1. Let ³ ¿ ¶ Á be the number of limit cycles of the map 0&¿ in the interval T!]j4v] W K We say that a singular point 4X.pT of the map 0&¿& has the cyclicity ¦ with respect to the space ¸ if there exist ¹ c Y T and W c Y T , such that for every T!] W ] W c and T ] ¹ ] ¹ c ÃÄÅ ¿ . ¦ K ¿ÆÇ7È ´ ¿  µ ³ ¶ Á G G G InË order to simplify notations we denote byG 2 6 G the ³ -tuple 2 @7¶ c @ C¼¶ C KtKK c ¶ @ 6 and Gc @ C¼¶ C KtKo K c ¶ @ over the o field o . Also we denote o by ÊÉ the ring of polynomials in @7¶ by ´ @Bµ 2 6 ® ´ @Bµ 2 o 6 the map (1.1) defined by o the polynomial o o (more precisely, ® (1.5) is a family o depending upon the parameter 2 6 ). o of maps 0 C G KKtK G 0BÌ;I É o Ë ( is a field) we denote by Í 0 C G KtKK G 0BÌÎ the ideal of Given polynomials Ë G G É generated by 0 C KKtK 0BÌ and by Ï 25o Ð76 the (affine) variety of the ideal Ð , o @BFDC [032 6_.eT G 0¤IÑÐ K y Ï 25Ð76. x 2 6LI Z o Ë o ´ @Bµ . P ´ @Bµ G P ´ @Bµ G D EFINITION 2.2. The ideal of ² É generated by all focus quantities, Ò Í ^ B @ µ ´ KKtK Î , is called the Bautin ideal of theo map ® 2 6 . The set ÓNÔbÕ×ÖtØ . Ï 2 Ò ´ @Bµ 6vÙ»² @&FDC ¥ is ´ @&µ 2 6 o called the center variety of ® . o Speaking about the center varieties we will assume that the coefficients of (1.5) are complex and speaking on the cyclicity we restrict ourself to maps (1.5) with real coefficients. ´ @Bµ G ´ @Bµ G ´ @Bµ G ´ @Bµ G ´ @Bµ ´ @&µ Let Ú . Í P uÛ P ¼Ü KKK P ¼Ý Î be a basis of Ò such that for any P ¼Þ P 'ß from Ú ´ @&µ l ] m if à ]aá , and for any Ì such that l ] Ìg] l FDC the polynomial P â belongs to ETNA Kent State University etna@mcs.kent.edu PERIODIC POINTS OF SOME ALGEBRAIC MAPS 159 ´ @Bµ G ´ @Bµ G G ´ @Bµ Í P uÛ P ¼Ü KKK P ¼Þ Î . Using the results of [2, 7] it is easy to conclude that the following statement holds. ´ @Bµ T HEOREM 2.3. If Ú is the basis of Ò defined above then the cyclicity of the origin for · 9 & K any map (2.1) is at most ¦ We have seen at the end of the previous section that for the map defined by (1.5) with ³ ./ P ´ ^ µ .U9s(2 ^ c 9 ChC i c ^ 6u2 ^ c 9 c ^ 6 G ^ o o o o f ´ µ Go and, as it was shown in [8], ^ 254 -g6 defines a center in the origin if and only if one of ChC i c ^ .±T or (ii) ^ cg9 c ^ .±T holds. According to [7] for (1.5) conditions (i) ^ cª9 e . ã o o o o o with ³ P ´ ¥ µ ./(2 c 9 ^ C i C ^ 9 c 6 ¥ ¥ ^ o oµ o o ´¥ ´^ µ G P ´¥ µ and the map defines a center if and only if P ^ .pTbK Because P ^ polynomials ^ are linear ´ ´¥ µ µ ´ ^µ G ´ µ they generate the corresponding Bautin ideals, Ò ^ . Í P ^ Î Ò ¥ . Í P ^ Î . Thus the cyclicity of the origin for every map 0 q defined by (1.5) with ³ .e and ³ ./ã is equal to zero. T HEOREM 2.4. 1) The polynomial (1.5) with ³ odd defines a center in the origin if and only if ? 29¯H6 m ä m .eTbK (2.2) ä FnmhA@ o 2) The cyclicity of the map defined by (1.5) with ³ odd is equal to zero. Proof. Assume that the first different from zero coefficient of the map (1.1) is (with E åY ), then the first different from zero coefficient in the Poincaré map is P . Gçæéè æêDëìëíÊG (2.3) P FC . E FDC Gçæéè æêDîï(ï K E Note that when .: the series expansion of the Poincaré map starts from P ^ .1 ^ 9 ^C , E E however below we will deal only with the cases åY . The map (1.1) defined by the polynomial (1.5) has the expansion -1.U9;4¯9 ? 29¯H6 ä ä m 4 @ 9·KKtKK ä FnmhA@ o Therefore if ³ is odd, ³ .e ¦ iÑ , then the first different from zero coefficient of the Poincaré map is ? P ^' ./ 29¯H6 m ä m K ä FnmhA ^' FDC o We have to prove that if P ^h .1T then P ^h F .1T for all positive integer . To do so, it is sufficiently to show that if P ^' ./T then the polynomial (1.5) has a branch symmetric with respect to the line -.U4 . We show that under the condition P ^h .UT the line -pik4v.UT is an irreducible branch of (1.5). Indeed, consider the equality ^' m ? ä m 25-ji476u2i ? 6.¢-jik4gi äm - 4 m K m - 4 ^' c ä FnmhA ^' FDC o mhA ETNA Kent State University etna@mcs.kent.edu 160 VALERY G. ROMANOVSKI Equaling the coefficient of the same terms in the both sides we get the system F C¶ cg. ^' ^' D ^' o ¶ C . ^' i ^h C t o C¶ ^h . C i c o c ¶ ^' FDC . c G o which has a solution if and only if the coefficients of (1.5) satisfy (2.2). 2) As we have shown if P ^h .ðT then P ^h F v.ðT for all positive integer . Therefore P ^' F ¯.P ^h<ñ (with some polynomial ñ ) for all such . Hence, ò . P Í ^h FDC Î and, due to Theorem 2.3, the cyclicity of the map defined by (1.5) is equal to zero. Consider now the case of (1.5) with ³ even. Then in the map (1.1) defined by (1.5) the two first different from zero coefficients are E @ C . ? 29¯6 m ä m G ä F mhAÊ@ o E .ôóõ ^ ´ @ Cµ ? 29¯6 m ä m ö÷ ä FnmhAÊ@ o óõ ? 29¯6 mø ä m ö÷ ä FnmhAÊ@ o K Thus according to (2.3), P @ .ç @ .±T . It is easily seen that in this case the first different E from zero coefficient of the Poincaré map is P ´ @ Cµ .1 ^ 9 ³ ^ ´ @ Cµ ^@ C K E E ´ µ ´ µ P ROPOSITION 2.5. The the center varieties of the maps ® 2 6 and ® 2 6 are, correo o spondingly, µ µ ´ ´ G ´ µ Ó . Ï 2úù C 6Êû Ï 2úù ^ 6 ´ µ ´ µ G G where ù C . Í c 9 C ¥ i ^'^ 9 ¥ C i cÎ , ù ^ . Í C ¥ 9 ¥ C c 9 cÎ and o o o o ´ µ o´ µ G o o o ´o µ Ó . Ï 2úù C 6Êû Ï 2úù ^ 6 ´ µ ´ µ G G where ù C . Í c 9 Cü i ^ 9 ¥h¥ i ^ 9 ü¼C i cHÎ , ù ^ . Í ^ 9 ^ Cü 9 ü¼C c 9 cHÎK p . ý o case o ³ o theo calculation o o of the o return mapo yields o o o o o Proof. In the P ´ µ .e(2þ c 9 C i 9 c6u2 c 9 C i ^h^ 9 i c6 G P ÿ ´ µ 8pTà îï Í P Î G ¥ ¥ C ¥ ¥C o o o o P ´ µ 8 o 2 o 9 o 6 o o C^ ¥C ý C¥ o o 2 C 9 ^'^ ikã C 9dý c 6 ^ 2 c 9 C i ^h^ 9 i c 67à îï Í P ÎuK ¥ ¥ ¥ ¥C o o o o o o o o o § ° we found that the minimal With Singular [4] making use of the routine ¦Ñà ³ by ´ µ G ù ´ µ GP Î P ù associate primes of Í C ^ are the ideals C ^ given above. This yields that µ ´ ´ µ ´ µ Ó Ï 2úù C 6Êû Ï 2úù ^ 6K To see that the opposite inclusion holds, Ó ´ µ ´ µ ´ µ G Ï ú2 ù C 6Êû Ï ú2 ù ^ 6 ETNA Kent State University etna@mcs.kent.edu PERIODIC POINTS OF SOME ALGEBRAIC MAPS 161 ´ µ f ´ µ G C 6 the curve 254 -g6¡. T has the branch ´ µ corresponding to the points from Ï ú2 ù ^ 6 are ´ µ Similar reasoning applies also to the case ³ . , however in this case the variety Ó µ µ µ µ ´ ´ ´ ´ G G G ´ µ . is defined by three focus quantities, Ó Ï 2 Í P C c P ^ c P ¥ c Îh6 where P C c .Àb25ã c 9 Cü i 9 : i 9 ã u 6 2 9 i 9 i 9 i c c c 6 G P o´ c µ 8 üC Cü ü¼C ^ ^ ^ ^ ¥'¥ ^ ^ o 2 Cü o 9 ý o iý o 9 ü¼o C 62 o Cü 9 o ^ i ã o 9do ý i üC o 9 o c 6^ 2 c 9 o ^ ^ ^ h ¥ ¥ ^ îï P cHÎ o G P ´ c µ . o 2`b2 o 9 9 i 9 i c L 6 à u 6 2 9 o o o o o o o Cü io ü C C C ü Í ^ ^ ^ i ^ ^ ¥'¥ ¥ ão 9jý o ^ i o üC 9 o c6^o 2 c 9 o Cü i 9 i 9 i H c 6 ` 2 9 üo C o^ o ¥'¥ i ^ o ¥'¥ o ¥'¥ 9 tTo ü¼C iUo T ct6^Ho 6 & 3o à îï oÍ P C´ c µ G P o ´ ^ c µ Î and o for the o polynomial o o reduction o weo used ^ ^ c c K o lexicographic o o with Y Cü Y ^ Y ¥'¥ Y ^ Y üC Y the order ´ µ ´ µ o o ® o 2 6 and o ® o 2 6 with a focus in the P ROPOSITION 2.6. The o cyclicities of o the maps o o origin are equal, correspondingly, to 1 and 2. . is similar). The variety Ï 2 Ò ´ µ 6 is Proof. Consider the case ³ . ý (the case ³ ´ µ G ´ µ ´ µ defined by P P C ^ . Therefore the return map of ® 2 6 with a focus in the origin has the o £ expansion c 2 476_.e4si¤P ´ µ 2 64 i¤P ÿ ´ µ 2 64 C ieKKtK o o o £ or 2 476_.e4si¤P C´ £ µ 2 64 C ¥ iRP C´ ü µ 2 64 C ieKKKtK ^ o o o Obviously, in the first case the equation 2 476B9X4¯.eT has no roots if 9 is sufficiently o o . Therefore, the o has at most one root for such small, and in the second case this equation ´ µ o cyclicity of ® 2 6 with a focus at the origin is at most one. £ o It is easy to see that it is equal to one, because there are maps such that the equation 2 476~914/.ôT has a small positive real root. Indeed, let .#2 c G C G ^'^ G c i ¥ ´ µ G o when o o¹ . T , C¥ o 9p c i ¹ c 6 . Then P . ¹ 2 c 9 ^'^ i ¥ C 9pã o c i ¹ o 6 and P o C´ µ .9so (2 c 9 o ^'^ ij C 9ã c6 ¥ 2 co 9 c6 P ´ µ .1 T o due to our assumption that o (and o C ^ ¥ ^ ® ´ µ 2 6 has o a focus o at theo origin). o Obviously, o o we can choose ¹ such that \ P ´ µ !\ >\ P C´ ^ µ \ and £ o of P ´ µ is opposite from that of P C´ ^ µ . That yields a small positive root of the function the sign 2 47694 . ä ø#" o Recall that an ideal Ð is called radical if 0 I¤Ð for any integer implies that 0 IRÐ . Ð Ð The radical of an ideal is denoted by $ . P ´ µ G P C´ µ Î and Í P C´ c µ G P ´ c µ G P ´ c µ Î are not radical ideals in P ROPOSITION 2.7. The ideals Í ^ ^ ¥ ² É Ë. o Proof. It is easy to check the statement of the lemma using any computer algebra system with an implemented routine for computing the radical of a polynomial ideal (Singu´ µ G ´ µ lar, Macaulay, CALI etc.). Computing with Singular [4] we found that % Í P P C ^ Î and ´ µ G ´ µ ´ µ G ´ µ Í P P C ^ Î have different reduced Gröbner bases. That means, that Í P P C ^ Î is not a radical ideal. Similarly one can check that the second ideal is not radical as well. To conclude, we have shown that the center and cyclicity problems for the map defined by the polynomial (1.5) with odd ³ has a simple solution. The case of even ³ is more difficult. ´ µ Basing on Proposition 2.5 we conjecture that the center variety of the maps ® ^h 2 6 consists o of two components: ? 29¯H6 m ä m .eT ä FnmhA ^' o one can check that for the points from Ï 2úù - i/4k.ÀT and the curves f ´ µ 2`4 G -g6.ÀT symmetric with respect to the line -1./4 . ETNA Kent State University etna@mcs.kent.edu 162 VALERY G. ROMANOVSKI and ^' l ¶ l 9 l ¶ ^h l .eT G G G G à .eT KKtK ¦ 9· G o o 4 6u2i'& where the first component corresponds to (1.5) of the form 2-i 7 G 1 4 4 and the second one to those invariant under the involution µ µ µ µ µ ´ ´ ´ ´ ´ )C ( G P I P G P C Î c I P C´ c µ G P ´ c P P Í Í We have checked that ^ ^ and ^ probably, l F mhAÊ@ C lm 4 l- m 6 o µ. G P ´ c µ Î K Therefore, ¥ ´ µ G P ´ µ ÎÑÄ íbï ´ µ G ´ µ G ´ µ G ´ µ C^ Ò . ÍP C c P ^ c P ¥ c Î ´ µ ´ µ yielding that the cyclicity of maps ® 2 6 and ® 2 6 with a center in the origin are, respecµ µ ´ ´ ´ µ G ´ µ G ´ µ G tively, 1 and 2 as well. If the ideals Í P o P C ^ Î and Í o P C c P ^ c P ¥ c Î were radical ideals then (2.4) would be true. However Proposition 2.7 shows that these ideals are not radical ones. Thus there remains an open problem to find the center variety of map defined by (1.5) with ³ even and to investigate the cyclicity of this map. (2.4) ´ µ Ò . ÍP REFERENCES [1] V. I. A RNOLD , Geometric Methods in the Theory of Ordinary Differential Equations, Springer-Verlag, New York, 1983. [2] N. N. B AUTIN , On the number of limit cycles which appear with the variation of the coefficients from an equilibrium position of focus or center type, Mat. Sb., 30 (1952), pp. 181-196 (in Russian); English translation: Amer. Math. Soc. Transl. Ser. I, 5 (1962), pp. 396–413. [3] D. 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