EE C222/ME C237 - Spring'18 - Lecture 3 Notes: Murat Arcak January 24 2018

EE C222/ME C237 - Spring’18 - Lecture 3 Notes1 1
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January 24 2018
Invariant Sets
Notation: φ(t, x0 ) denotes a trajectory of ẋ = f ( x ) with initial condi-

tion x (0) = x0 .
Definition: A set M ⊂ Rn is positively (negatively) invariant if, for
each x0 ∈ M, φ(t, x0 ) ∈ M for all t ≥ 0 (t ≤ 0).
n( x )
M f (x)
If f ( x ) · n( x ) ≤ 0 on the boundary then M is positively invariant.
Example 1: A predator-prey model
ẋ = ( a − by) x Prey (exponential growth when y = 0)

ẏ = (cx − d)y Predator (exponential decay when x = 0)
a, b, c, d, > 0
The nonnegative quadrant is invariant:
( dc , ba )
saddle
%
x
Example 2:
ẋ1 = x1 + x2 − x1 ( x12 + x22 )
ẋ2 = −2x1 + x2 − x2 ( x12 + x22 )
Show that Br , { x | x12 + x22 ≤ r2 } is positively invariant for sufficiently

large r.
ee c222/me c237 - spring’18 - lecture 3 notes 2

x1
n( x ) =
x2 x2
f ( x ) · n( x ) = x12 + x1 x2 − x12 ( x12 + x22 ) − 2x1 x2 + x22 − x22 ( x12 + x22 )
= − x1 x2 + ( x12 + x22 ) − ( x12 + x22 )2
f (x)
1 1
− x1 x2 ≤ x12 + x22 (completion of squares) x1
2 2
Therefore, f ( x ) · n( x ) ≤ 23 r2 − r4 ≤ 0 if r2 ≥ 32 .
Periodic Orbits in the Plane Continued
Two criteria:
1. Bendixson (absence of periodic orbits)
2. Poincaré-Bendixson (existence of periodic orbits)
Poincaré-Bendixson Theorem: Suppose M is compact2 and positively 2

i.e., closed and bounded
invariant for the planar, time invariant system ẋ = f ( x ), x ∈ R2 . If M
contains no equilibrium points, then it contains a periodic orbit.
Example 3: Harmonic Oscillator
" #
0 −1 ẋ1 = − x2
A=
1 0 ẋ2 = x1 .
x2
x1
For any R > r > 0, the ring { x : r2 ≤ x12 + x22 ≤ R2 } is compact,

invariant and contains no equilibria ⇒ at least one periodic orbit.
(We know there are infinitely many in this case.)
The “no equilibrium” condition in the PB theorem can be relaxed as:

“If M contains one equilibrium which is an unstable focus or
unstable node”
Proof sketch: Since the equilibrium is an unstable focus or node, we

can encircle it with a small closed curve on which f ( x ) points out-
ward. Then the set obtained from M by carving out the interior of the
M
closed curve is positively invariant and contains no equilibrium.
q
3
Example 2 above: Br is positively invariant for r ≥ 2 but contains
the equilibrium x = 0.
" #
√

∂ f 1 1
= λ1,2 = 1 ∓ j 2 unstable focus.
∂x x=0
−2 1
Therefore, Br must contain a periodic orbit.
A more general form of the PB Theorem states that, for time invari-
ant, planar systems, bounded trajectories converge to equilibria,
periodic orbits, or unions of equilibria connected by trajectories.
Corollary: No chaos for time invariant planar systems.
Index Theory
Again, applicable only to planar systems.

Definition (index): The index of a closed curve is k if, when traversing
the curve in one direction, f ( x ) rotates by 2πk in the same direction.
The index of an equilibrium is defined to be the index of a small
curve around it that doesn’t enclose another equilibrium.
type of equilibrium or curve index
node, focus, center +1
saddle -1
any closed orbit +1
a closed curve not encircling any equilibria 0
The last claim (index = 0) follows from the following observations:

• Continuously deforming a closed curve without crossing equilibria
leaves its index unchanged.
• A curve not encircling equilibria can be shrunk to an arbitrarily
small one, so f ( x ) can be considered constant.
Theorem: The index of a closed curve is equal to the sum of indices

of the equilibria inside.
Graphical proof: Shrinking curve c to c0 below without crossing equi-
libria does not change the index. The index of c0 is the sum of the
indices of the curves encircling the equilibria because the thin "pipes"
connecting these curves do not affect the index of c0 .
c0
contributions from the two sides cancel out
The following corollary is useful for ruling out periodic orbits (like
Bendixson’s Theorem studied in the previous lecture):
Corollary: Inside any periodic orbit there must be at least one equi-
librium and the indices of the equilibria enclosed must add up to
+1.
Example (from last lecture):
ẋ1 = x2
ẋ2 = −δx2 + x1 − x13 + x12 x2 δ>0
Bendixson’s Criterion: No periodic orbit can lie entirely in one of the

√ √ √ √
regions x1 ≤ − δ, − δ ≤ x1 ≤ δ, or x1 ≥ δ.
Now apply the corollary above.
Equilibria: (0, 0), (∓1, 0). To find their indices evaluate the Jacobian:
" #

∂f 0 1
∂x x =(0,0) = λ2 + δλ −1 = 0.
1 −δ |{z}
<0
The eigenvalues are real and have opposite signs, therefore (0, 0) is a
saddle: index = −1.
" #

∂f 0 1
∂x x =(∓1,0) = λ2 + (δ − 1)λ +2 = 0.
−2 1 − δ |{z}
>0
The eigenvalues are either real with the same sign (node) or complex
conjugates (focus or center), therefore (∓1, 0) each has index= +1.
Thus, the corollary above rules out the periodic orbit in the middle
plot below. It does not rule out the others, but does not prove their
existence either. Bendixson’s Criterion rules out neither of the three.
x2
x1
√ √
x1 = − δ x1 = δ
x2
not possible
x1
√ √
x1 = − δ x1 = δ
x2
x1
√ √
x1 = − δ x1 = δ

EE C222/ME C237 - Spring'18 - Lecture 3 Notes: Murat Arcak January 24 2018

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EE C222/ME C237 - Spring’18 - Lecture 3 Notes1 1

Licensed under a Creative Commons

Notation: φ(t, x0 ) denotes a trajectory of ẋ = f ( x ) with initial condi-

If f ( x ) · n( x ) ≤ 0 on the boundary then M is positively invariant.

Example 1: A predator-prey model

ẋ = ( a − by) x Prey (exponential growth when y = 0)

Show that Br , { x | x12 + x22 ≤ r2 } is positively invariant for sufficiently

Periodic Orbits in the Plane Continued

1. Bendixson (absence of periodic orbits)

2. Poincaré-Bendixson (existence of periodic orbits)

Poincaré-Bendixson Theorem: Suppose M is compact2 and positively 2

For any R > r > 0, the ring { x : r2 ≤ x12 + x22 ≤ R2 } is compact,

The “no equilibrium” condition in the PB theorem can be relaxed as:

Proof sketch: Since the equilibrium is an unstable focus or node, we

Therefore, Br must contain a periodic orbit.

Again, applicable only to planar systems.

type of equilibrium or curve index

node, focus, center +1

any closed orbit +1

a closed curve not encircling any equilibria 0

The last claim (index = 0) follows from the following observations:

Theorem: The index of a closed curve is equal to the sum of indices

contributions from the two sides cancel out

Bendixson’s Criterion: No periodic orbit can lie entirely in one of the

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