DYNAMICAL SYSTEMS WITH APPLICATIONS USING MATHEMATICA⃝R SECOND EDITION

Stephen Lynch

Springer International Publishing

Contents

Preface xi

1ATutorialIntroductiontoMathematica 1 1.1 AQuickTourofMathematica...... 2 1.2 TutorialOne:TheBasics(OneHour) ...... 4 1.3 Tutorial Two: Plots and Differential Equations (One Hour) . . . 7 1.4 The Manipulate Command and Simple Mathematica Programs . 9 1.5 HintsforProgramming...... 12 1.6 MathematicaExercises...... 13

2Differential Equations 17 2.1 Simple Differential Equations and Applications ...... 18 2.2 Applications to Chemical Kinetics ...... 27 2.3 Applications to Electric Circuits ...... 31 2.4 ExistenceandUniquenessTheorem...... 37 2.5 MathematicaCommandsinTextFormat ...... 40 2.6 Exercises ...... 41

3PlanarSystems 47 3.1 CanonicalForms ...... 48 3.2 Eigenvectors Defining Stable and Unstable Manifolds ...... 53 3.3 Phase Portraits of Linear Systems in the Plane ...... 56 3.4 Linearization and Hartman’s Theorem ...... 59 3.5 ConstructingPhasePlaneDiagrams ...... 61 3.6 MathematicaCommands ...... 69 3.7 Exercises ...... 70

4InteractingSpecies 75 4.1 CompetingSpecies ...... 76 4.2 Predator-PreyModels ...... 79 4.3 Other Characteristics Affecting Interacting Species ...... 84 4.4 MathematicaCommands ...... 86 4.5 Exercises ...... 87

v vi CONTENTS

5LimitCycles 91 5.1 HistoricalBackground ...... 92 5.2 Existence and Uniqueness of Limit Cycles in the Plane ...... 95 5.3 Nonexistence of Limit Cycles in the Plane ...... 101 5.4 PerturbationMethods ...... 105 5.5 MathematicaCommands ...... 114 5.6 Exercises ...... 115

6HamiltonianSystems,LyapunovFunctions,andStability 121 6.1 Hamiltonian Systems in the Plane ...... 122 6.2 Lyapunov Functions and Stability ...... 127 6.3 MathematicaCommands ...... 133 6.4 Exercises ...... 134

7BifurcationTheory 139 7.1 Bifurcations of Nonlinear Systems in the Plane ...... 140 7.2 NormalForms...... 146 7.3 Multistability and Bistability ...... 150 7.4 MathematicaCommands ...... 153 7.5 Exercises ...... 154

8Three-DimensionalAutonomousSystemsandChaos 159 8.1 LinearSystemsandCanonicalForms...... 160 8.2 Nonlinear Systems and Stability ...... 164 8.3 TheR¨osslerSystemandChaos ...... 168 8.4 The Lorenz Equations, Chua’s Circuit, and the Belousov-Zhabotinski Reaction...... 173 8.5 MathematicaCommands ...... 181 8.6 Exercises ...... 183

9Poincar´eMapsandNonautonomousSystemsinthePlane189 9.1 Poincar´eMaps ...... 190 9.2 Hamiltonian Systems with Two Degrees of Freedom ...... 195 9.3 NonautonomousSystemsinthePlane ...... 201 9.4 MathematicaCommands ...... 209 9.5 Exercises ...... 210

10 Local and Global Bifurcations 215 10.1 Small-Amplitude Limit Cycle Bifurcations ...... 216 10.2Gr¨obnerBases ...... 222 10.3 Melnikov Integrals and Bifurcating Limit Cycles from a Center . 228 10.4 Bifurcations Involving Homoclinic Loops ...... 230 10.5 MathematicaCommands ...... 232 CONTENTS vii

10.6Exercises ...... 234

11 The Second Part of Hilbert’s Sixteenth Problem 239 11.1 StatementofProblemandMainResults ...... 240 11.2 Poincar´eCompactification ...... 243 11.3 GlobalResultsforLi´enardSystems ...... 249 11.4 LocalResultsforLi´enardSystems ...... 258 11.5 MathematicaCommands ...... 259 11.6Exercises ...... 260

12 Delay Differential Equations 265 12.1 IntroductionandtheMethodofSteps ...... 266 12.2 Applications in Biology ...... 272 12.3 Applications in Nonlinear Optics ...... 278 12.4 Other Applications ...... 281 12.5Exercises ...... 286

13 Linear Discrete Dynamical Systems 293 13.1 RecurrenceRelations...... 294 13.2TheLeslieModel ...... 299 13.3 Harvesting and Culling Policies ...... 303 13.4 MathematicaCommands ...... 307 13.5Exercises ...... 308

14 Nonlinear Discrete Dynamical Systems 313 14.1 TheTentMapandGraphicalIterations ...... 314 14.2 Fixed Points and Periodic Orbits ...... 319 14.3 The Logistic Map, Bifurcation Diagram, and Feigenbaum Number326 14.4 GaussianandH´enonMaps...... 333 14.5 Applications ...... 338 14.6 MathematicaCommands ...... 341 14.7Exercises ...... 342

15 Complex Iterative Maps 347 15.1 JuliaSetsandtheMandelbrotSet ...... 348 15.2 Boundaries of Periodic Orbits ...... 352 15.3 TheNewtonFractal ...... 355 15.4 MathematicaCommands ...... 357 15.5Exercises ...... 357

16 Electromagnetic Waves and Optical Resonators 361 16.1 Maxwell’s Equations and Electromagnetic Waves ...... 362 16.2 HistoricalBackground ...... 364 16.3 TheNonlinearSFRResonator ...... 369 viii CONTENTS

16.4 Chaotic and Bistability ...... 371 16.5 Linear Stability Analysis ...... 374 16.6 Instabilities and Bistability ...... 378 16.7 MathematicaCommands ...... 383 16.8Exercises ...... 384

17 and Multifractals 389 17.1 Construction of Simple Examples ...... 390 17.2 Calculating Dimensions ...... 397 17.3 A Multifractal Formalism ...... 403 17.4 Multifractals in the Real World and Some Simple Examples . . . 408 17.5 MathematicaCommands ...... 415 17.6Exercises ...... 417

18 Image Processing and Analysis with Mathematica 425 18.1 ImageProcessingandMatrices ...... 426 18.2 TheFastFourierTransform ...... 428 18.3 TheFastFourierTransformonImages ...... 433 18.4Exercises ...... 434

19 Chaos Control and Synchronization 437 19.1 HistoricalBackground ...... 438 19.2 Controlling Chaos in the Logistic Map ...... 443 19.3 Controlling Chaos in the H´enon Map ...... 444 19.4 ChaosSynchronization...... 450 19.5 MathematicaCommands ...... 454 19.6Exercises ...... 456

20 Neural Networks 461 20.1Introduction...... 462 20.2 The Delta Learning Rule and Backpropagation ...... 468 20.3 The Hopfield Network and Lyapunov Stability ...... 473 20.4Neurodynamics ...... 482 20.5 MathematicaCommands ...... 486 20.6Exercises ...... 489

21 Binary Oscillator Computing 495 21.1 BrainInspiredComputing ...... 496 21.2 Oscillatory Threshold Logic ...... 501 21.3 ApplicationsandFutureWork ...... 507 21.4 MathematicaCommands ...... 512 21.5Exercises ...... 513 CONTENTS ix

22 An Introduction to Wolfram SystemModeler 519 22.1Introduction...... 520 22.2 Electric Circuits ...... 523 22.3 AMechanicalSystem ...... 526 22.4 Causal(BlockBased)Modeling ...... 528 22.5Exercises ...... 531

23 Coursework and Examination-Type Questions 535 23.1 ExamplesofCourseworkQuestions ...... 536 23.2Examination1 ...... 546 23.3Examination2 ...... 549 23.4Examination3 ...... 552

24 Solutions to Exercises 559 24.1Chapter1 ...... 559 24.2Chapter2 ...... 560 24.3Chapter3 ...... 561 24.4Chapter4 ...... 563 24.5Chapter5 ...... 564 24.6Chapter6 ...... 566 24.7Chapter7 ...... 566 24.8Chapter8 ...... 568 24.9Chapter9 ...... 569 24.10Chapter10 ...... 569 24.11Chapter11 ...... 570 24.12Chapter12 ...... 572 24.13Chapter13 ...... 572 24.14Chapter14 ...... 574 24.15Chapter15 ...... 575 24.16Chapter16 ...... 576 24.17Chapter17 ...... 576 24.18Chapter18 ...... 577 24.19Chapter19 ...... 577 24.20Chapter20 ...... 578 24.21Chapter21 ...... 578 24.22Chapter22 ...... 579 24.23Chapter23 ...... 579 Index

Preface

Since the first printing of this book in 2007, Mathematica⃝R has evolved from Mathematica version 6.0 to Mathematica version 11.1 in 2017. Accordingly, the second edition has been thoroughly updated and new material has been added. In this edition, there are many more applications, examples and exercises, all with solutions, and new sections on series solutions of ordinary differential equa- tions and fractals, have been added. There are also new chapters on delay differential equations, image processing, binary oscillator computing, and simulation with Wolfram SystemModeler. This book provides an introduction to the theory of dynamical systems with the aid of Mathematica. It is written for both senior undergraduates and grad- uate students. Chapter 1 provides a tutorial introduction to Mathematica–new users should go through this chapter carefully whilst those moderately familiar and experienced users will find this chapter a useful source of reference. The

xi xii Preface

first part of the book deals with continuous systems using differential equations, including both ordinary and delay differential equations (Chapters 2–12), the second part is devoted to the study of discrete systems (Chapters 13–17), and Chapters 18–22 deal with both continuous and discrete systems. Chapter 23 gives examples of coursework and also lists three Mathematica-based examina- tions to be sat in a computer laboratory with access to Mathematica.Chapter 24 lists answers to all of the exercises given in the book. It should be pointed out that dynamical systems theory is not limited to these topics but also encom- passes partial differential equations, integral and integro-differential equations, and stochastic systems, for instance. References [1]–[6] given at the end of the Preface provide more information for the interested reader. The author has gone for breadth of coverage rather than fine detail and theorems with proofs are kept at a minimum. The material is not clouded by functional analytic and group theoretical definitions, and so is intelligible to readers with agen- eral mathematical background. Some of the topics covered are scarcely covered elsewhere. Most of the material in Chapters 9-12 and 16-22 is at postgraduate level and has been influenced by the author’s own research interests. There is more theory in these chapters than in the rest of the book since it is not easily accessed anywhere else. It has been found that these chapters are especially useful as reference material for senior undergraduate projectwork.Thethe- ory in other chapters of the book is dealt with more comprehensively in other texts, some of which may be found in the references section of the corresponding chapter. The book has a very hands-on approach and takes the reader from the basic theory right through to recently published research material.

Mathematica is extremely popular with a wide range of researchers from all sorts of disciplines, it has a very user-friendly interface and has extensive visualization and numerical computation capabilities. It is an ideal package to adopt for the study of nonlinear dynamical systems; the numerical algorithms work very quickly, and complex pictures can be plotted within seconds. The Wolfram SystemModelerTM package is used for simulating dynamical processes. It is as close as one can get to building apparatus and investigating theoutput for a given input without the need for an actual physical model. For this reason, SystemModeler is very popular in the field of engineering.

The first chapter provides an efficient tutorial introduction to Mathemat- ica. New users will find the tutorials will enable them to become familiar with Mathematica within a few hours. Both engineering and mathematics students appreciate this method of teaching and I have found that it generally works well with one staff member to about twenty students in a computer laboratory. In most cases, I have chosen to list the Mathematica notebook commands at the end of each chapter, this avoids unnecessary cluttering in the text. The Mathematica programs have been kept as simple as possible and should run under later versions of the package. All files for the book (including updates) Preface xiii can even be downloaded from the Web at

http://library.wolfram.com/infocenter/Books/6881/.

Readers will find that they can reproduce the figures given in the text, and then it is not too difficult to change parameters or equations to investigate other systems. Chapters 2–12 deal with continuous dynamical systems. Chapters2and3 cover some theory of ordinary differential equations and applications to models in the real world are given. The theory of differential equations applied to chem- ical kinetics and electric circuits is introduced in some detail. The memristor is introduced and one of the most remarkable stories in the history ofmathe- matics is relayed. Chapter 2 ends with the existence and uniqueness theorem for the solutions of certain types of differential equations. The theory behind the construction of phase plane portraits for two-dimensional systems is dealt with in Chapter 3. Applications are taken from chemical kinetics, economics, electronics, epidemiology, mechanics, and population . The modeling of the populations of interacting species are discussed in some detail in Chap- ter 4 and domains of stability are discussed for the first time. Limit cycles, or isolated periodic solutions, are introduced in Chapter 5. Since we live in a periodic world, these are the most common type of solution found when mod- eling nonlinear dynamical systems. They appear extensively when modeling both the technological and natural sciences. Hamiltonian, or conservative, sys- tems and stability are discussed in Chapter 6, and Chapter 7 is concerned with how planar systems vary depending upon a parameter. Bifurcation, bistability, multistability, and normal forms are discussed. The reader is first introduced to the concept of chaos in continuoussys- tems in Chapters 8 and 9, where three-dimensional systems and Poincar´emaps are investigated. These higher-dimensional systems can exhibit strange attrac- tors and chaotic dynamics. One can rotate the three-dimensional objects in Mathematica and plot time series plots to get a better understandingofthe dynamics involved. Once again, the theory can be applied to chemical kinetics (including stiff systems), electric circuits, and epidemiology; a simplifiedmodel for the weather is also briefly discussed. Chapter 9 deals with Poincar´efirst return maps that can be used to untangle complicated interlacing trajectories in higher-dimensional spaces. A periodically driven nonlinear pendulum is also investigated by means of a nonautonomous differential equation. Both local and global bifurcations are investigated in Chapter 10. The main results and state- ment of the famous second part of David Hilbert’s sixteenth problem are listed in Chapter 11. In order to understand these results, Poincar´ecompactification is introduced. There is some detail on Li´enard systems, in particular, in this part of the book, but they do have a ubiquity for systems in the plane. Chapter 12 provides an introduction to delay differential equations with applications in biology, nonlinear optics and other dynamical systems. xiv Preface

Chapters 13–17 deal with discrete dynamical systems. Chapter 13starts with a general introduction to iteration and linear recurrence (or difference) equations. The bulk of the chapter is concerned with the Leslie modelused to investigate the population of a single species split into different age classes. Harvesting and culling policies are then investigated and optimal solutions are sought. Nonlinear discrete dynamical systems are dealt with in Chapter 14. Bifurcation diagrams, chaos, intermittency, Lyapunov exponents, periodicity, quasiperiodicity, and universality are some of the topics introduced.Thethe- ory is then applied to real-world problems from a broad range of disciplines including population dynamics, biology, economics, nonlinear optics, and neu- ral networks. Chapter 15 is concerned with complex iterative maps, Julia sets and the now-famous are plotted. Basins of attraction are in- vestigated for these complex systems and Newton fractals are introduced. As a simple introduction to optics, electromagnetic waves and Maxwell’s equations are studied at the beginning of Chapter 16. Complex iterative equations are used to model the propagation of light waves through nonlinear optical fibers. A brief history of nonlinear bistable optical resonators is discussed and the sim- ple fiber ring resonator is analyzed in particular. Chapter 16 is devoted to the study of these optical resonators and phenomena such as bistability, chaotic attractors, feedback, hysteresis, instability, linear stability analysis, multistabil- ity, nonlinearity, and steady-states are discussed. The first and second iterative methods are defined in this chapter. Some simple fractals may be constructed using pencil and paper in Chapter 17, and the concept of is introduced. Fractals may be thought of as identical motifs repeated on ever- reduced scales. Unfortunately, most of the fractals appearing in nature are not homogeneous but are more heterogeneous, hence the need for the multifractal theory given later in the chapter. It has been found that the distribution of stars and galaxies in our universe are multifractal, and there is even evidence of multifractals in rainfall, stock markets, and heartbeat rhythms. Applications in geoscience, materials science, microbiology, and image processing are briefly discussed. Chapter 18 provides a brief introduction to image processing which is being used more and more by a diverse range of scientific disciplines, especially medical imaging. The fast Fourier transform is introduced and has a wide range of applications throughout the realms of science. Chapter 19 is devoted to the new and exciting theory behind chaos control and synchronization. For most systems, the maxim used by engineers in the past has been ”stability good, chaos bad”, but more and more nowadays this is being replaced with ”stability good, chaos better”. There are exciting and novel applications in cardiology, communications, engineering, laser technology, and space research, for example. A brief introduction to the enticing field of neural networks is presented in Chapter 20. Imagine trying to make a computer mimic the human brain. One could ask the question: In the future will it be possible for computers to think and even be conscious? The human brain will always be Preface xv more powerful than traditional, sequential, logic-based digital computers and scientists are trying to incorporate some features of the brain intomoderncom- puting. Neural networks perform through learning and no underlying equations are required. Mathematicians and computer scientists are attempting to mimic the way neurons work together via synapses; indeed, a neural network can be thought of as a crude multidimensional model of the human brain. Theexpec- tations are high for future applications in a broad range of disciplines.Neural networks are already being used in machine learning and pattern recognition (computer vision, credit card fraud, prediction and forecasting, disease recogni- tion, facial and speech recognition), the consumer home entertainment market, psychological profiling, predicting wave over-topping events, and control prob- lems, for example. They also provide a parallel architecture allowing for very fast computational and response times. In recent years, the disciplines of neural networks and nonlinear dynamics have increasingly coalesced and a new branch of science called neurodynamics is emerging. Lyapunov functions canbeused to determine the stability of certain types of neural network. There is also ev- idence of chaos, feedback, nonlinearity, periodicity, and chaos synchronization in the brain. Chapter 21 focuses on binary oscillator computing, the subject of UK, Inter- national and Taiwanese patents. The author and his co-inventor, Jon Borresen, came up with the idea when modeling connected biological neurons. Binary oscillator technology can be applied to the design of Arithmetic Logic Units (ALU)s, memory and other basic computing components. It has the potential to provide revolutionary computational speed-up, energy saving and novel ap- plications and may be applicable to a variety of technological paradigms includ- ing biological neurons, Complementary Metal-Oxide-Semiconductor (CMOS), memristors, optical oscillators, and superconducting materials. The research has the potential for MMU and industrial partners to develop super fast, low- power computers, and may provide an assay for neuronal degradation for brain malfunctions such as Alzheimer’s, epilepsy and Parkinson’s disease! Examples of SystemModeler, referred to in earlier chapters of the book, are presented in Chapter 22. It is possible to change the type of input into the system, or parameter values, and investigate the output very quickly. This is as close as one can get to experimentation without the need for expensive equipment. Examples of coursework and three examination-type papers are listed in Chapter 23, and a set of outline solutions for the book is listed in Chapter 24. Both textbooks and research papers are presented in the list of references. The textbooks can be used to gain more background material, and the research papers have been given to encourage further reading and independent study. This book is informed by the research interests of the author which are currently nonlinear ordinary differential equations, nonlinear optics, multifrac- tals, neural networks, and binary oscillator computing. Some references include xvi Preface recently published research articles by the author along with two patents. The prerequisites for studying dynamical systems using this book are un- dergraduate courses in linear algebra, real and complex analysis, , and ordinary differential equations; a knowledge of a computer languagesuchasC or Fortran would be beneficial but not essential.

Recommended Textbooks

[1] K. Adzievski and A.H. Siddiqi, Introduction to Partial Differential Equations for Scientists and Engineers using Mathematica, Second Edition,Chapman& Hall/CRC (Applied Mathematics & Nonlinear Science), New York, 2016.

[2] B. Bhattacharya and M. Majumdar, Random Dynamical Systems in Finance, Chapman & Hall/CRC, New York, 2016.

[3] L.C. de Barros, R.C. Bassanezi and W.A. Lodwick, AFirstCourseinFuzzy Logic, Fuzzy Dynamical Systems, and Biomathematics: TheoryandApplica- tions, Springer, New York, 2016.

[4] V. Volterra, Theory of Functionals and of Integral and Integro-Differential Equations, Dover Publications, New York, 2005.

[5] J. Mallet-Paret (Editor), J. Wu (Editor), H. Zhu (Editor), Y. Yi (Editor), Infinite Dimensional Dynamical Systems (Fields Institute Communications), Springer, New York, 2013.

[6] C. Bernido, M.V. Carpio-Bernido, M. Grothaus et al., Stochastic and Infinite Dimensional Analysis, Birkh¨auser, New York, 2016.

I would like to express my sincere thanks to Wolfram for supplying me with the latest versions of Mathematica and SystemModeler. Thanks alsogotothe reviewer of this book for his thorough checking and all of the reviewers from the other editions of my books. Special thanks go to Birkh¨auser and Springer International Publishers. Finally, thanks to my family and especially my wife Gaynor, and our children, Sebastian and Thalia, for their continuing love, in- spiration, and support.

Stephen Lynch FIMA SFHEA