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NONLINEAR
DYNAMICS AND
CHAOS
With Applications to
Physics, Biology, Chemistry,
and Engineering
STEVEN H. STROGATZ
PERSEUS B O O K S
I Reading, Massachusetts
Many of the designations used by nlanufacturers and sellers to distin-
guish their products are claimed as trademarks. Where those designa-
tions appear in this book and Perseus Books was aware of a trademark
claim, the designations have been printed in initial capital letters.
Perseus Books are available for special discounts for hulk purchases in the
U.S. by corporations, institutions, and other organizations. For more in-
formation, please contact the Special Markets Department at Harper-
Collins Publishers, 10 East 53rd Street, New York, NY 10022, or call 1-
2 12-207-7528.
CONTENTS
Preface ix
1. Overview 1
1.0 Chaos, Fractals, and Dynamics 1
1.1 Capsule History of Dynamics 2
1.2 The Importance of Being Nonlinear 4
1.3 A Dynamical View of the World 9
CONTENTS v
3.6 Imperfect Bifurcations and Catastrophes 69
3.7 Insect Outbreak 73
Exercises 79
4. Flows on the Circle 93
4.0 Introduction 93
4.1 Examples and Definitions 93
4.2 Uniform Oscillator 95
4.3 Nonuniform Oscillator 96
4.4 Overdamped Pendulum 101
4.5 Fireflies 103
4.6 Superconducting Josephson Junctions 106
Exercises 1 13
vi CONTENTS
8. Bifurcations Revisited 241
8.0 Introduction 24 1
8.1 Saddle-Node, Transcritical,
and Pitchfork Bifurcations 24 1
8.2 Hopf Bifurcations 248
8.3 Oscillating Chemical Reactions 254
8.4 GIobal Bifurcations of Cycles 260
8.5 Hysteresis in the Driven Pendulum and Josephson Junction 265
8.6 Coupled Oscillators and Quasiperiodicity 273
8.7 Poincare Maps 278
Exercises 284
CONTENTS vii
12. Strange Attractors 423
12.0 Introduction 423
12.1 The Simplest Examples 423
12.2 Henon Map 429
12.3 Rossler System 434
12.4 Chemical Chaos and Attractor Reconstruction 437
12.5 Forced Double-Well Oscillator 441
Exercises 448
viii CONTENTS
PREFACE
Prerequisites
I
PREFACE ix
Possible Courses
For any of these courses, the students should be assigned homework from the
exercises at the end of each chapter. They could also do computer projects; build
chaotic circuits and mechanical systems; or look up some of the references to get a
taste of current research. This can be an exciting course to teach, as well as to take.
I hope you enjoy it.
Conventions
Equations are numbered consecutively within each section. For instance, when
we're working in Section 5.4, the third equation is called (3) or Equation (3), but
elsewhere it is called (5.4.3) or Equation (5.4.3). Figures, examples, and exercises
are always called by their full names, e.g., Exercise 1.2.3. Examples and proofs
end with a loud thump, denoted by the symbol m.
Acknowledgments
Thanks to the National Science Foundation for financial support. For help with
the book, thanks to Diana Dabby, Partha Saha, and Shinya Watanabe (students);
Jihad Touma and Rodney Worthing (teaching assistants); Andy Christian, Jim
Crutchfield, Kevin Cuomo, Frank DeSimone, Roger Eckhardt, Dana Hobson, and
Thanos Siapas (for providing figures); Bob Devaney, Irv Epstein, Danny Kaplan,
Willem Malkus, Charlie Marcus, Paul Matthews, Arthur Mattuck, Rennie Mirollo,
Peter Renz, Dan Rockmore, Gil Strang, Howard Stone, John Tyson, Kurt Wiesen-
x PREFACE
feld, Art Winfree, and Mary Lou Zeeman (friends and colleagues who gave advice);
and to my editor Jack Repcheck, Lynne Reed, Production Supervisor, and all the
other helpful people at Perseus Books. Finally, thanks to my family and Elisabeth
for their love and encouragement.
Steven H. Strogatz
Cambridge, Massachusetts
PREFACE xi
OVERVIEW
2 OVERVIEW
was also the first person to glimpse the possibility of chaos, in which a determinis-
tic system exhibits aperiodic behavior that depends sensitively on the initial condi-
tions, thereby rendering long-term prediction impossible.
But chaos remained in the background in the first half of this century; instead
dynamics was largely concerned with nonlinear oscillators and their applications
in physics and engineering. Nonlinear oscillators played a vital role in the develop-
ment of such technologies as radio, radar, phase-locked loops, and lasers. On the
theoretical side, nonlinear oscillators also stimulated the invention of new mathe-
matical techniques-pioneers in this area include van der Pol, Andronov, Little-
wood, Cartwright, Levinson, and Smale. Meanwhile, in a separate development,
PoincarC's geometric methods were being extended to yield a much deeper under-
standing of classical mechanics, thanks to the work of Birkhoff and later Kol-
mogorov, Arnol'd, and Moser.
The invention of the high-speed computer in the 1950s was a watershed in
the history of dynamics. The computer allowed one to experiment with equa-
tions in a way that was impossible before, and thereby to develop some intuition
about nonlinear systems. Such experiments led to Lorenz's discovery in 1963 of
chaotic motion on a strange attractor. He studied a simplified model of convec-
tion rolls in the atmosphere to gain insight into the notorious unpredictability of
the weather. Lorenz found that the solutions to his equations never settled down
to equilibrium or to a periodic state-instead they continued to oscillate in an ir-
regular, aperiodic fashion. Moreover, if he started his simulations from two
slightly different initial conditions, the resulting behaviors would soon become
totally different. The implication was that the system was inherently unpre-
dictable-tiny errors in measuring the current state of the atmosphere (or any
other chaotic system) would be amplified rapidly, eventually leading to embar-
rassing forecasts. But Lorenz also showed that there was structure in the
chaos-when plotted in three dimensions, the solutions to his equations fell
onto a butterfly-shaped set of points (Figure 1.1.1). He argued that this set had
to be "an infinite complex of surfacesu-today we would regard it as an exam-
ple of a fractal.
Lorenz's work had little impact until the 1970s, the boom years for chaos. Here
are some of the main developments of that glorious decade. In 1971 Ruelle and Tak-
ens proposed a new theory for the onset of turbulence in fluids, based on abstract
considerations about strange attractors. A few years later, May found examples of
chaos in iterated mappings arising in population biology, and wrote an influential re-
view article that stressed the pedagogical importance of studying simple nonlinear
systems, to counterbalance the often misleading linear intuition fostered by tradi-
tional education. Next came the most surprising discovery of all, due to the physicist
Feigenbaum. He discovered that there are certain universal laws governing the tran-
sition from regular to chaotic behavior; roughly speaking, completely different sys-
tems can go chaotic in the same way. His work established a link between chaos and
phase transitions, and enticed a generation of physicists to the study of dynamics. Fi-
nally, experimentalists such as Gollub, Libchaber, Swinney, Linsay, Moon, and
Westervelt tested the new ideas about chaos in experiments on fluids, chemical reac-
tions, electronic circuits, mechanical oscillators, and semiconductors.
Although chaos stole the spotlight, there were two other major developments in
dynamics in the 1970s. Mandelbrot codified and popularized fractals, produced
magnificent computer graphics of them, and showed how they could be applied in
a variety of subjects. And in the emerging area of mathematical biology, Winfree
applied the geometric methods of dynamics to biological oscillations, especially
circadian (roughly 24-hour) rhythms and heart rhythms.
By the 1980s many people were working on dynamics, with contributions too
numerous to list. Table 1.1.1 summarizes this history.
4 OVERVIEW
Dynamics - A Capsule History
Table 1.1.1
There are two main types of dynamical systems: differential equations and it-
erated maps (also known as difference equations). Differential equations describe
the evolution of systems in continuous time, whereas iterated maps arise in prob-
lems where time is discrete. Differential equations are used much more widely in
science and engineering, and we shall therefore concentrate on them. Later in the
book we will see that iterated maps can also be very useful, both for providing sim-
ple examples of chaos, and also as tools for analyzing periodic or chaotic solutions
of differential equations.
Now confining our attention to differential equations, the main distinction is be-
tween ordinary and partial differential equations. For instance, the equation for a
damped harmonic oscillator
1.2 T H E I M P O R T A N C E O F B E I N G N O N L I N E A R 5
is an ordinary differential equation, because it involves only ordinary derivatives
dxldt and d2x/dt' . That is, there is only one independent variable, the time t . In
contrast, the heat equation
-
Here the overdots denote differentiation with respect to t . Thus x, d x , / d t . The
variables x, , . . . ,x,, might represent concentrations of chemicals in a reactor, popula-
tions of different species in an ecosystem, or the positions and velocities of the planets
in the solar system. The functions A , ..., i,are determined by the problem at hand.
For example, the damped oscillator (1) can be rewritten in the form of (2),
thanks to the following trick: we introduce new variables x, = x and xl = x . Then
x,= X , , from the definitions, and
from the definitions and the governing equation (1). Hence the equivalent system
(2) is
This system is said to be linear, because all the x, on the right-hand side appear
to the first power only. Otherwise the system would be nonlinear. Typical nonlin-
ear terms are products, powers, and functions of the x , , such as x,x2 , (x,)', or
cos X 2 .
For example, the swinging of a pendulum is governed by the equation
where x is the angle of the pendulum from vertical, g is the acceleration due to
gravity, and L is the length of the pendulum. The equivalent system is nonlinear:
6 OVERVIEW
Nonlinearity makes the pendulum equation very difficult to solve analytically.
The usual way around this is to fudge, by invoking the small angle approximation
sin x = x for x << 1 . This converts the problem to a linear one, which can then be
solved easily. But by restricting to small x , we're throwing out some of the
physics, like motions where the pendulum whirls over the top. Is it really necessary
to make such drastic approximations?
It turns out that the pendulum equation can be solved analytically, in terms of
elliptic functions. But there ought to be an easier way. After all, the motion of the
pendulum is simple: at low energy, it swings back and forth, and at high energy it
whirls over the top. There should be some way of extracting this information from
the system directly. This is the sort of problem we'll learn how to solve, using geo-
metric methods.
Here's the rough idea. Suppose we happen to know a solution to the pendu-
lum system, for a particular initial condition. This solution would be a pair of
functions x,(t) and x,(t), representing the position and velocity of the pendu-
lum. If we construct an abstract space with coordinates ( x , , ~ , ) then
, the solu-
tion (x,(t), x2(t)) corresponds to a point moving along a curve in this space
(Figure 1.2.1).
Figure 1.2.1
This curve is called a trajectory, and the space is called the phase space for the
system. The phase space is completely filled with trajectories, since each point can
serve as an initial condition.
Our goal is to run this construction in reverse: given the system, we want to
1.2 THE I M P O R T A N C E O F B E I N G N O N L I N E A R 7
draw the trajectories, and thereby extract information about the solutions. In many
cases, geometric reasoning will allow us to draw the trajectories without actually
solving the system!
Some terminology: the phase space for the general system (2) is the space with
coordinates x , , ..., x,, . Because this space is n-dimensional, we will refer to (2) as
an n-dimensional system or an nth-order system. Thus n represents the dimen-
sion of the phase space.
Nonautonomous Systems
You might w o r ~ ythat (2) is not general enough because it doesn't include any ex-
plicit time dependence. How do we deal with time-dependent or nonautonomous
equations like the forced harmonic oscillator mx + bx + hx = F cos t ? In this case too
there's an easy trick that allows us to rewrite the system in the form (2). We let x , = x
and x, = i as before but now we introduce x, = t . Then x, = 1 and so the equivalent
system is
8 OVERVIEW
each part can be solved separately and finally recombined to get the answer. This
idea allows a fantastic simplification of complex problems, and underlies such meth-
ods as normal modes, Laplace transforms, superposition arguments, and Fourier
analysis. In this sense, a linear system is precisely equal to the sum of its parts.
But many things in nature don't act this way. Whenever parts of a system inter-
fere, or cooperate, or compete, there are nonlinear interactions going on. Most of
everyday life is nonlinear, and the principle of superposition fails spectacularly. If
you listen to your two favorite songs at the same time, you won't get double the plea-
sure! Within the realm of physics, nonlinearity is vital to the operation of a laser, the
formation of turbulence in a fluid, and the superconductivity of Josephson junctions.
where x is the population at time t and r is the growth rate. We place this system
in the column labeled " n = 1 " because one piece of information-the current value
of the population x-is sufficient to predict the population at any later time. The
system is also classified as linear because the differential equation x = rx is linear
in x.
As a second example, consider the swinging of a pendulum, governed by
In contrast to the previous example, the state of this system is given by two vari-
ables: its current angle x and angular velocity x . (Think of it this way: we need
the initial values of both x and x to determine the solution uniquely. For example,
if we knew only x , we wouldn't know which way the pendulum was swinging.)
Because two variables are needed to specify the state, the pendulum belongs in the
n = 2 column of Figure 1.3.1. Moreover, the system is nonlinear, as discussed in
the previous section. Hence the pendulum is in the lower, nonlinear half of the
n = 2 column.
The next day was spent in collecting the books which I had asked
many booksellers to secure for me, and for some of which I had paid
in advance. By the evening I had obtained a large number. The
following day (May 26th) was employed in the same business as the
day before. In the afternoon, Li Tsu-shu made some boxes for me to
put my things in. He was also kind enough to get me three sheets of
yak-hide in which to wrap my boxes. In Lhasa many yaks are killed
for food after two o’clock in the afternoon every day. The pelt fresh
from the butchery is much used for packing and shipping goods.
Things are wrapped in it while it is yet soft with the fur inside and
the still bloody and greasy side out, and then stitched. When it gets
dry it is hard and strong, and well serves to protect the contents.
When all was ready it was the 27th of May. As the next day was the
appointed day on which I could hire a horse from the Chinese
merchant and start with him, I went to take my leave of the ex-
Minister. I thanked him for the great favors I had for so long
received from him, and he gave me several hints and suggestions for
my journey. I borrowed a suit of priestly garments from him, for all
my suits were packed up together with other things. He also gave
me a hundred rupees, telling me to accept it as an
acknowledgement of the favors I had done him. Though I thought
the thank-offering ought to have been from my side, I was in much
need of money, and so I accepted his present with many thanks and
returned to the apothecary’s.
As I came back I learned from him that the merchant who was to go
with me on the following day would not accompany me. I must tell
how this unexpected hindrance came about on the eve of my
departure. The Secretary of the Amban, of whom I spoke before,
was a great friend of the merchant whom I expected to accompany.
Now the Secretary, who was already suspecting me, told the
merchant that I was not a Chinese, but must be a Japanese; that
though he could not find the exact reason why I came to Tibet, it
might be possible that I was spying in the service of the British
Government, for now-a-days nobody would be so much devoted to
Buḍḍhism as to come to Tibet as I declared I had done, and that if
his suspicion proved to be true after my departure with the
merchant the latter would have his head out off. The merchant was
surprised at hearing such a story from a man who was regarded as
the most learned and experienced among the Chinese in Tibet, and
of course believed it, so it was not possible in any way whatever to
persuade him to take charge of my baggage.
But after telling this story, Li Tsu-shu told me that he might probably
find some means to send off my baggage if I did not mind more
expense, by making a special application to the servants of the
Chinese Legation and calling the goods his drugs. I asked him to do
so, and as to my own journey, as I needed a coolie to carry my
personal luggage day and night, I asked him to hire one for me. The
druggist went off directly to negotiate with them, but came back
disappointed saying that the men whom he intended to see were not
to be found.
Early the next morning (the 28th) the druggist went out to see his
country-men who were going to the place called Tomo or Chumbi in
Tibetan and Sui-shi in Chinese, and arranged with them to carry my
goods to the place. I paid them the very high fare for the
transportation in advance. He sent my luggage to the Chinese
Legation that night. As for my coolie, Mrs. Li Tsu-shu secured a man
called Tenba after trying her best. So I made all preparations for my
departure for India by their kindness. I could feel certain of starting
from Lhasa on the very next day, the 29th of May (the 20th of April
according to the Tibetan calendar).
CHAPTER LXXXIII.
A Tearful Departure from Lhasa.
Lhasa was at that time in a state of such intense excitement over
the festivities that the people hardly seemed to know what they
were doing. The police force of the city is not large: it consists of
thirty constables (Kochakpa) and thirty policemen (Ragyabpa), and
the whole energies of the force were devoted to the duty of
guarding the persons of the Grand Lama and his Co-adjutor. Every
official and priest was busily engaged in the duties of his office;
none could spare even a thought for anything outside his immediate
sphere of occupation—in short the time could not possibly have been
more favorable for my plan of escaping from the city. Still it was
necessary to take precautions, for there were many priests from
Sera in the town, and I therefore determined to divert attention by
wearing, instead of travelling clothes, a suit of ordinary ecclesiastical
garments which I had borrowed from the Minister a few days before.
At eleven o’clock, on the day of my departure, my kind, host and
hostess of the Thien-ho-thang prepared for me a farewell dinner of
vegetables only. It was a very sad meal, and the two children, a boy
of five and a girl of eleven years old, were almost inconsolable at the
thought of my departure. Poor things, they did their best to retain
me and I must confess that I never before felt so strongly the force
of childish affection.
Some of the members of the family were very anxious to testify their
respect by accompanying me for a mile or two on my journey, but as
it would have been hard to escape observation had we left the
house in a large party, we agreed to go out one by one, and meet
again in the grove in front of the Rebon Temple outside the capital.
So, with a coolie to carry my baggage, I started off by myself
through the crowded streets, and when right in front of the Great
Temple was accosted by a policeman. I felt sure that something had
been detected, and gave myself up for lost.
He looked me straight in the face, and said “I congratulate you,” and
when he found I did not reply he repeated his congratulations. I did
not know what he was congratulating me about, but at least it did
not look as if he were going to arrest me, and I continued my
silence, but he made three low bows as signs of his congratulations,
and made as though I would pass on. Suddenly it occurred to me
that I was wearing a suit of ecclesiastical garments borrowed from
the Minister, and that doubtless the policeman had jumped to the
conclusion that as I was wearing such dignified robes I had been
appointed physician to His Holiness (as indeed it was rumored), and
that he expected a reward of money for his well-meant felicitations.
So I gave him a ‘single-handed blessing,’ and a tanka of money,
which made him stick out his tongue in gratitude, and so went on
my way. I reckoned it as a thing most auspicious that I should have
met the man in front of the Temple, and thus have commenced my
journey with words of felicitation.
There are some points about the Tibetan police which I must not
omit to mention. They receive no salaries, and live on the alms of
the community, though their methods of solicitation differ materially
from those of ordinary beggars. At stated periods they go, usually in
companies of three, through the streets, and standing at the gates
of private houses cry out as follows:
“We have come to receive alms from the wealthy, and you are so
wealthy that you can easily relieve our distress. We therefore pray
you, the savior of the poor and the friend of the needy, to give thirty
pieces of gold to thirty poor men who with their wives live in
miserable huts, and the gift you give us this day shall be brought
home to our women and make them happy. We shall fill our broken
cups with fragrant liquor and let them lie down this evening in a
state of blissful intoxication. Lha-kyallo.[4]”
They will go on repeating these dirge-like petitions at the gate until
at last some one comes out and gives them a few silver coins and
some parched wheat-flour in a tin pan covered with a small kata.
There is no fixed amount to be given, but if a rich man does not give
them what they think they have a right to expect, they will let him
know what they think. They are not supposed to beg at Temples,
but as a matter of fact every Temple gives them something for the
sake of its own credit, and for peace and quiet.
All the money that is thus collected is handed over to one of the
Kochakpa, who distributes it in regular monthly instalments to the
members of the Force. But the Lhasa police have also further
sources of income. When a wealthy pilgrim from the country arrives
in the city they ask for a donation from him, and if they do not get
at least one tanka they will set the worthless people of the city on to
attack him and not stir a finger for his protection. Every countryman
therefore finds it to his interest to pay this blackmail to the police,
and when I was in Lhasa as a layman I had paid my tanka like the
others. But since I had assumed the priest’s robe they had not been
able to demand anything from me, and therefore I suppose that my
friend thought the opportunity of getting a present in return for his
congratulations was too good to be lost.
If a policeman goes on a journey, say to arrest a thief, he takes
nothing with him for the expenses of his journey. He goes to any
house he chooses and takes what they give him to eat and drink,
and if he is going on to a place where there is no entertainment to
be had he just orders the people of the house to provide him with
whatever he requires. The Kochakpa however are far superior to the
ordinary policemen. They have a regular salary from the
Government, and so do not live on blackmail.
Having got rid of my policeman friend, I turned to the Temple for a
final act of worship, and then passing under the Palace of the Grand
Lama and over the bridge, came out upon the vast plain, where, by
the small grove in front of the Rebon Temple, I found the clerk of
the drug-store and a few friends waiting to take their leave of me. I
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