Presentacion de Variedades

Control & Dynamical Systems
C A L T E C H
Manifolds, Mappings, Vector Fields
Jerrold E. Marsden
Control and Dynamical Systems, Caltech
http://www.cds.caltech.edu/marsden/
Some History
Carl Friedrich Gauss
Born: 30 Ajri 1 in Lrunswick (Gcrmany)
Died: 23 Ic 1S`` in Gottincn (Gcrmany)
lhL, 199, nivcrsity ot Lcmstcdt, advisor was lta Lisscrtation
was on the fundamental theorem of algebra
1S01, jrcdictcd josition ot astcroid Ccrcs. uscd avcrain mcthods.
tamous as an astronomcr. 1S0, dircctor ot thc Gottincn oscrvatory
1S011S30, Continucd to work on acra, and incrcasiny in comctry
ot surtaccs, motivatcd y non-Lucidcan comctry
1S1S, Iamc as a cooist. uscd comctry to do a codcsic survcy
1S31, work on jotcntia thcory (Gauss thcorcm), tcrrcstria ma-
nctism, ctc
1S!` to 1S`1, workcd in nancc and ot rich
2
Some History
3
Some History
Carl Gustav Jacob Jacobi
Born: 10 Lcc 1S0! in lotsdam
Died: 1S Ic 1S`1 in Lcrin
1S21, cntcrcd thc nivcrsity ot Lcrin
1S2`, lhL Disquisitiones Analyticae de Fractionibus Simplicibus
1S2`-2o Lumodt-nivcrsitat, Lcrin
1S2o1S!! nivcrsity ot Ioniscr
1S2, Iundamcnta work on cijtic tunctions
1S!!1S`1 nivcrsity ot Lcrin
Lectures on analytical mechanics (Lcrin, 1S! - 1S!S). avc a dc-
taicd and critica discussion ot Larancs mcchanics
4
Some History
5
Some History
Georg Friedrich Bernhard Riemann
Born: 1 Scjt 1S2o in Lrcsccnz (Gcrmany)
Died: 20 !uy 1Soo in Scasca, ltay
lhL, 1S`1, Gottincn, advisor was Gauss. thcsis in comjcx anaysis
on licmann surtaccs
1S`!, Laiitation ccturc

Uber die Hypothesen welche der Geome-
trie zu Grunde liegen (On the hypotheses that lie at the foun-
dations of geometry), aid thc toundations ot manitod thcory and
licmannian comctry
1S`, lrotcssor at Gottincn
1S`9, lcjortcd on thc licmann hyjothcsis as jart ot his induction
into thc Lcrin acadcmy
1Soo, Licd at thc ac ot !0 in ltay,
6
Some History
7
Some History
Felix Klein
Born: 2` Ajri 1S!9 in Lsscdort, Gcrmany
Died: 22 !unc 192` in Gottincn, Gcrmany
1S1. nivcrsity ot Christiania (thc city which ccamc Iristiania, thcn
Oso in 192`)
lhL, 1SoS, nivcrsity ot Lonn undcr l uckcr, on ajjications ot c-
omctry to mcchanics
1S2, jrotcssor at Lrancn, in Lavaria. aid toundations ot comctry
and how it conncctcd to rouj thcory (Lrancn lroramm). coao-
rations with Lic
1SS0 to 1SSo, chair ot comctry at Lcijzi
1SSo, movcd to Gottincn to ,oin Licrts rouj
1S901900+, òrc on mathcmatica jhysics, mcchanics. corrcsjondcd
with loincarc
8
Some History
9
Some History
Marius Sophus Lie
Born: 1 Lcc 1S!2 in òrdt,ordcidc, òrway
Died: 1S Ic 1S99 in Iristiania (now Oso), òrway
1S1. nivcrsity ot Christiania (thc city which ccamc Iristiania, thcn
Oso in 192`)
lhL, 1S2, nivcrsity ot Christiania On a class of geometric trans-
formations
1SSo1S9S nivcrsity ot Lcijzi (ot thc chair ot Icin). whcrc hc wrotc
his tamous 3 voumc work Theorie der Transformationsgruppen
1S9!, Iummcr was his studcnt at Lcijzi
1S9S1S99, lcturncd to thc nivcrsity ot Christiania. dics shorty attcr
his rcturn
10
Some History
11
Some History
Henri Poincare
Born: 29 Ajri 1S`! in àncy, Lorrainc, Irancc
Died: 1 !uy 1912 in laris, Irancc
1S9, lhL nivcrsity ot laris, Advisor Charcs Lcrmitc
1S9, nivcrsity ot Cacn
1SS1, Iacuty ot Scicncc in laris in 1SS1
1SSo, Soronnc and

Lcoc loytcchniquc unti his dcath at ac `S
1SS, ccctcd to thc Acadmic dcs Scicnccs. 190o, lrcsidcnt
1S9`, Analysis situs (acraic tojooy)
1S921S99, Les Methodes nouvelles de la mechanique celeste (3 vo-
umcs) and, in 190`, Lecons de mecanique celeste
Lis cousin, laymond loincarc, was lrcsidcnt ot Irancc durin \ord
\ar l
12
Manifolds
13
Manifolds
ànitods arc scts M that ocay ook ikc incar
sjaccssuch as R
n
14
Manifolds
sjaccssuch as R
n
A chart on M is a susct U ot M tocthcr with a

i,cctivc maj U (U) R
n
14
Manifolds
sjaccssuch as R
n

n
suay, wc dcnotc (m) y (x

1
, . . . , x
n
) and ca thc
x
i
thc coordinates ot thc joint m U M
14
Manifolds
sjaccssuch as R
n

n
suay, wc dcnotc (m) y (x

1
, . . . , x
n
) and ca thc
x
i
thc coordinates ot thc joint m U M
Two charts (U, ) and (U
) such that U U

arc cacd compatible it (U U
) and
(U
U)
arc ojcn suscts ot R
n
and thc majs

1
|(U U
) (U U
(U U
)
and
(
)
1
|
(U U
(U U
) (U U
)
14
Manifolds
arc C
Lcrc,

1
|(U U
) dcnotcs thc rcstric-

tion ot thc maj

1
to thc sct (U U
)
(U)
(U
U
V
M
x
1
x
1
x
n
x
n
x
n
U
15
Manifolds
\c ca M a dierentiable n-manifold whcn
M1. The set M is covered by a collection of charts, that is, every
point is represented in at least one chart.
M2. M has an atlas; that is, M can be written as a union of
compatible charts.
16
Manifolds
compatible charts.
Dierentiable structure: Start with a ivcn atas
and (c dcmocratic and) incudc a charts comjatic
with thc ivcn oncs
16
Manifolds
compatible charts.
Dierentiable structure: Start with a ivcn atas
and (c dcmocratic and) incudc a charts comjatic
with thc ivcn oncs
Example: Start with R
3
as a manitod with simjy
onc (idcntity) chart \c thcn aow othcr charts such
as thosc dcncd y sjhcrica coordinatcsthis is thcn a
dicrcntiac structurc on R
3
This wi c undcrstood
to havc ccn donc whcn wc say wc havc a manitod
16
Manifolds
Topology. Lvcry manitod has a tojooy otaincd
y dccarin ojcn ncihorhoods in charts to c ojcn
ncihorhoods whcn majjcd to M y thc chart
17
Manifolds
Topology. Lvcry manitod has a tojooy otaincd
y dccarin ojcn ncihorhoods in charts to c ojcn
ncihorhoods whcn majjcd to M y thc chart
Tangent Vectors. Two curvcs t c
1
(t) and t
c
2
(t) in an n-manitod M arc cacd equivalent at thc
joint m it
c
1
(0) c
2
(0) m
and
d
dt
( c
1
)
t0
d
dt
( c
2
)
t0
in somc chart
17
Manifolds
0
I
c
1
c
2
m
F
U
R
U
M
18
Tangent Vectors
A tangent vector v to a manitod M at a joint
m M is an cquivacncc cass ot curvcs at m
19
Tangent Vectors
Sct ot tancnt vcctors to M at m is a vcctor sjacc
19
Tangent Vectors
Notation: T
m
M tancnt sjacc to M at m M
19
Tangent Vectors
Notation: T
m
M tancnt sjacc to M at m M
\c think ot v T
m
M as tancnt to a curvc in M
19
Tangent Vectors
m
T
m
M
v
M
20
Tangent Vectors
Components of a tangent vector.
U M R
n
a chart M
21
Tangent Vectors
U M R
n
a chart M
ivcs associatcd coordinatcs (x
1
, . . . , x
n
) tor joints in U
21
Tangent Vectors
U M R
n
a chart M
1
, . . . , x
n
) tor joints in U
Lct v T
m
M c a tancnt vcctor to M at m.
21
Tangent Vectors
U M R
n
a chart M
1
, . . . , x
n
) tor joints in U
Lct v T
m
c a curvc rcjrcscntativc ot thc cquivacncc cass v
21
Tangent Vectors
U M R
n
a chart M
1
, . . . , x
n
) tor joints in U
Lct v T
m
Thc components ot v arc thc numcrs v
1
, . . . , v
n
dcncd y tak-
in thc dcrivativcs ot thc comjoncnts ot thc curvc c
v
i
d
dt
( c)
i
t0
,
whcrc i 1, . . . , n
21
Tangent Vectors
U M R
n
a chart M
1
, . . . , x
n
) tor joints in U
Lct v T
m
Thc components ot v arc thc numcrs v
1
, . . . , v
n
dcncd y tak-
in thc dcrivativcs ot thc comjoncnts ot thc curvc c
v
i
d
dt
( c)
i
t0
,
whcrc i 1, . . . , n
Comjoncnts arc indcjcndcnt ot thc rcjrcscntativc curvc choscn, ut
thcy do dcjcnd on thc chart choscn
21
Tangent Bundles
Tangent bundle of M, dcnotcd y TM, is thc dis-
,oint union ot thc tancnt sjaccs to M at thc joints
m M, that is,
TM
_
mM
T
m
M.
22
Tangent Bundles
m M, that is,
TM
_
mM
T
m
M.
loints ot TM vcctors v tancnt at somc m M
22
Tangent Bundles
m M, that is,
TM
_
mM
T
m
M.
lt M is an n-manitod, thcn TM is a 2n-manitod
22
Tangent Bundles
m M, that is,
TM
_
mM
T
m
M.
Thc natural projection is thc maj
M
TM M
that takcs a tancnt vcctor v to thc joint m M at
which thc vcctor v is attachcd
22
Tangent Bundles
m M, that is,
TM
_
mM
T
m
M.
Thc natural projection is thc maj
M
TM M
that takcs a tancnt vcctor v to thc joint m M at
which thc vcctor v is attachcd
Thc invcrsc imac
1
M
(m) ot m M is thc tancnt
sjacc T
m
Mthc ber ot TM ovcr thc joint m M
22
Dierentiable Maps
A maj f M N is dierentiable (rcsj C
k
) it
in oca coordinatcs on M and N, thc maj f is rcjrc-
scntcd y dicrcntiac (rcsj C
k
) tunctions
23
Dierentiable Maps
k
) it
k
) tunctions
Thc derivative ot f M N at a joint m M is
a incar maj T
m
f T
m
M T
f(m)
N Lcrcs how
23
Dierentiable Maps
k
) it
k
) tunctions
a incar maj T
m
f T
m
M T
f(m)
N Lcrcs how
Ior v T
m
M, choosc a curvc c in M with c(0) m, and vcocity
vcctor dc/dt |
t0
v
23
Dierentiable Maps
k
) it
k
) tunctions
a incar maj T
m
f T
m
M T
f(m)
N Lcrcs how
Ior v T
m
M, choosc a curvc c in M with c(0) m, and vcocity
vcctor dc/dt |
t0
v
T
m
f v is thc vcocity vcctor at t 0 ot thc curvc f c R N,
that is,
T
m
f v
d
dt
f(c(t))
t0
.
23
Chain Rule
Thc vcctor T
m
f v docs not dcjcnd on thc curvc c ut
ony on thc vcctor v
24
Chain Rule
Thc vcctor T
m
ony on thc vcctor v
lt f M N is ot cass C
k
, thcn Tf TM TN
is a majjin ot cass C
k1
24
Chain Rule
Thc vcctor T
m
ony on thc vcctor v
lt f M N is ot cass C
k
, thcn Tf TM TN
is a majjin ot cass C
k1
lt f M N and g N P arc dicrcntiac

majs (or majs ot cass C
k
), thcn g f M P is
dicrcntiac (or ot cass C
k
), and thc chain rule
hods
T(g f) Tg Tf.
24
Dieomorphisms
A dicrcntiac (or ot cass C
k
) maj f M N
is cacd a dieomorphism it it is i,cctivc and its
invcrsc is aso dicrcntiac (or ot cass C
k
)
25
Dieomorphisms
k
) maj f M N
k
)
lt T
m
f T
m
M T
f(m)
N is an isomorjhism, thc in-
verse function theorem statcs that f is a local
dieomorphism around m M
25
Dieomorphisms
k
) maj f M N
k
)
lt T
m
f T
m
M T
f(m)
N is an isomorjhism, thc in-
verse function theorem statcs that f is a local
dieomorphism around m M
Thc sct ot a dicomorjhisms f M M torms
a rouj undcr comjosition, and thc chain ruc shows
that T(f
1
) (Tf)
1
25
Submanifolds
Submanifold (dim k): S M. tor s S thcrc is a
chart (U, ) in M with thc submanifold property:
SM. U R
k
R
nk
and (U S) (U) (R
k
{0}).
S is a manitod in its own riht
S
1
U
2
2
26
Submanifolds
lt f M N is a smooth maj, a joint m M is a
regular point it T
m
f is sur,cctivc. othcrwisc, m is a
critical point ot f A vauc n N is regular it a
joints majjin to n arc rcuar
27
Submanifolds
regular point it T
m
Submersion theorem: lt f M N is a smooth
maj and n is a rcuar vauc ot f, thcn f
1
(n) is a
smooth sumanitod ot M ot dimcnsion dimMdimN
and
T
m
_
f
1
(n)
_
kcr T
m
f.
27
Submanifolds
regular point it T
m
Submersion theorem: lt f M N is a smooth
maj and n is a rcuar vauc ot f, thcn f
1
(n) is a
smooth sumanitod ot M ot dimcnsion dimMdimN
and
T
m
_
f
1
(n)
_
kcr T
m
f.
This is an cxcccnt tcchniquc tor showin various scts
arc manitods, such as O(n), thc sct ot orthoona nn
matriccs
27
Vector Fields and Flows
Vector eld X on M a maj X M TM that
assins a vcctor X(m) at thc joint m M. that is,
M
X idcntity
28
M
X idcntity
\cctor sjacc ot vcctor cds on M is dcnotcd X(M)
28
M
X idcntity
An integral curve ot X with initia condition m
0
at
t 0 is a (dicrcntiac) maj c |a, b| M such that
|a, b| is an ojcn intcrva containin 0, c(0) m
0
, and
c
(t) X(c(t))
tor a t |a, b|. ic, a solution curve ot this OLL
28
M
X idcntity
An integral curve ot X with initia condition m
0
at
t 0 is a (dicrcntiac) maj c |a, b| M such that
|a, b| is an ojcn intcrva containin 0, c(0) m
0
, and
c
(t) X(c(t))
tor a t |a, b|. ic, a solution curve ot this OLL
Flow ot X Thc cocction ot majs
t
M M
such that t
t
(m) is thc intcra curvc ot X with
initia condition m
28
Lxistcncc and uniqucncss thcorcms trom OLL uaran-
tcc that cxists is smooth in m and t (whcrc dcncd)
it X is
29
it X is
niqucncss ow property
t+s

t

s
aon with thc initia condition
0
idcntity
29
it X is
niqucncss ow property
t+s

t

s
aon with thc initia condition
0
idcntity
This cncraizcs thc situation whcrc M V is a linear
sjacc, X(m) Am tor a (oundcd) linear ojcrator
A, and whcrc
t
(m) e
tA
m
to thc nonlinear casc
29
An imjortant tact is that it X is a C
r
vcctor cd, thcn
its ow is a C
r
maj in a variacs
30
r
vcctor cd, thcn
its ow is a C
r
maj in a variacs
An imjortant cstimatc that is thc kcy to jrovin thins
ikc this is thc Gronwall inequality it on an intcr-
va |a, b|, wc havc
f(t) A +
_
t
a
f(s)g(s)ds
whcrc A 0, and f, g 0 arc continuous, thcn
f(t) Acxj
_
t
a
g(s)ds
30
r
vcctor cd, thcn
its ow is a C
r
maj in a variacs
An imjortant cstimatc that is thc kcy to jrovin thins
ikc this is thc Gronwall inequality it on an intcr-
va |a, b|, wc havc
f(t) A +
_
t
a
f(s)g(s)ds
whcrc A 0, and f, g 0 arc continuous, thcn
f(t) Acxj
_
t
a
g(s)ds
This is uscd on thc intcra cquation dcnin a ow
(usin a chart)
30
Stratcy tor jrovin that thc ow is C
1
31
1
Iormay incarizc thc cquations and nd thc cquation

that D
t
shoud satisty This is thc rst variation
equation
31
1

that D
t
equation
sc thc asic cxistcncc thcory to scc that thc rst vari-
ation cquation has a soution
31
1

that D
t
equation
sc thc asic cxistcncc thcory to scc that thc rst vari-
ation cquation has a soution
Show that this soution actuay satiscs thc dcnition
ot thc dcrivativc ot
t
y makin usc ot Gronwa
31
Time-dependent vector eld: X M R
TM such that X(m, t) T
m
M tor m M, t R
32
m
M tor m M, t R
Integral curve: c(t) such that c
(t) X(c(t), t)
Thc ow is thc cocction ot majs
t,s
M M
such that t
t,s
(m) is thc intcra curvc c(t) with
initia condition c(s) m at t s
32
m
M tor m M, t R
Integral curve: c(t) such that c
(t) X(c(t), t)
Thc ow is thc cocction ot majs
t,s
M M
such that t
t,s
(m) is thc intcra curvc c(t) with
initia condition c(s) m at t s
Lxistcncc and uniqucncss time-dependent ow
property
t,s

s,r

t,r
.
lt X hajjcns to c timc indcjcndcnt, thc two notions
ot ows arc rcatcd y
t,s

ts
32
òtion ot completeness of vector elds. intcra
curvcs arc dcncd tor a timc
33
Critcria discusscd in ook. an imjortant casc is that
it, tor cxamjc, y makin a jriori cstimatcs, onc can
show that any intcra curvc dcncd on a nitc ojcn
timc intcrva (a, b) rcmains in a comjact sct, thcn thc
vcctor cd is comjctc
33
Critcria discusscd in ook. an imjortant casc is that
it, tor cxamjc, y makin a jriori cstimatcs, onc can
show that any intcra curvc dcncd on a nitc ojcn
timc intcrva (a, b) rcmains in a comjact sct, thcn thc
vcctor cd is comjctc
Ior instancc somctimcs such an cstimatc can c o-
taincd as an energy estimate. c, thc ow ot x +
x
3
0 is comjctc sincc it has thc jrcscrvcd cncry
H(x, x)
1
2
x
2
+
1
!
x
!
, which conncs intcra curvcs to
as tor nitc timc intcrvas
33
Dierential of a Function
Lcrivativc ot f M R at m M ivcs a maj
T
m
f T
m
M T
f(m)
R
R
34
T
m
f T
m
M T
f(m)
R
R
Givcs a incar maj df(m) T
m
M R
34
T
m
f T
m
M T
f(m)
R
R
m
M R
Thus, df(m) T
m
M, thc dua ot T
m
M
34
T
m
f T
m
M T
f(m)
R
R
m
M R
Thus, df(m) T
m
M, thc dua ot T
m
M
lt wc rcjacc cach vcctor sjacc T
m
M with its dua
T
m
M, wc otain a ncw 2n-manitod cacd thc cotan-
gent bundle and dcnotcd y T
M
34
T
m
f T
m
M T
f(m)
R
R
m
M R
Thus, df(m) T
m
M, thc dua ot T
m
M
lt wc rcjacc cach vcctor sjacc T
m
M with its dua
T
m
M, wc otain a ncw 2n-manitod cacd thc cotan-
gent bundle and dcnotcd y T
M
\c ca df thc dierential ot f Ior v T
m
M, wc
ca df(m) v thc directional derivative ot f in
thc dircction v
34
ln a coordinatc chart or in incar sjaccs, this notion co-
incidcs with thc usua notion ot a dircctiona dcrivativc
carncd in vcctor cacuus
35
sin a chart , thc dircctiona dcrivativc is
df(m) v
n
i1
(f
1
)
x
i
v
i
.
35
df(m) v
n
i1
(f
1
)
x
i
v
i
.
sc thc summation convention droj thc sum-
mation sin whcn thcrc arc rcjcatcd indiccs
35
df(m) v
n
i1
(f
1
)
x
i
v
i
.
sc thc summation convention droj thc sum-
mation sin whcn thcrc arc rcjcatcd indiccs
Ior short, wc writc
df(m) v
f
x
i
v
i
.
35
Vector Fields as Dierential Operators
Sjccityin thc dircctiona dcrivativcs comjctcy dctcr-
mincs a vcctor, and so wc can idcntity a asis ot T
m
M
usin thc ojcrators /x
i
\c writc
{e
1
, . . . , e
n
}
_

x
1
, . . . ,

x
n
_
tor this asis, so that v v
i
/x
i
36
Sjccityin thc dircctiona dcrivativcs comjctcy dctcr-
mincs a vcctor, and so wc can idcntity a asis ot T
m
M
usin thc ojcrators /x
i
\c writc
{e
1
, . . . , e
n
}
_

x
1
, . . . ,

x
n
_
tor this asis, so that v v
i
/x
i
Thcrc is a onc to onc corrcsjondcncc ctwccn vcctor

cds X on M and thc dicrcntia ojcrators
X|f|(x) df(x) X(x)
36
Thc dua asis to /x
i
is dcnotcd y dx
i
Thus, rc-
ativc to a choicc ot oca coordinatcs wc ct thc asic
tormua
df(x)
f
x
i
dx
i
tor any smooth tunction f M R
37
Thc dua asis to /x
i
is dcnotcd y dx
i
Thus, rc-
ativc to a choicc ot oca coordinatcs wc ct thc asic
tormua
df(x)
f
x
i
dx
i
tor any smooth tunction f M R
\c aso havc
X|f| X
i
f
x
i
which is why wc writc
X X
i

x
i
37
Jacobi-Lie Bracket
Givcn two vcctor cds X and Y , hcrc is a uniquc
vcctor cd |X, Y | such that as a dicrcntia ojcrator,
|X, Y ||f| X|Y |f|| Y |X|f||
38
Jacobi-Lie Bracket
Givcn two vcctor cds X and Y , hcrc is a uniquc
vcctor cd |X, Y | such that as a dicrcntia ojcrator,
|X, Y ||f| X|Y |f|| Y |X|f||
Lasicst to scc what is oin on y comjutin thc com-
mutator in coordinatcs
38
Jacobi-Lie Bracket
\c ct
|X, Y |
_
X
i

x
i
, Y
j

x
j
_
_
X
i

x
i
Y
j

x
j
Y
j

x
j
X
i

x
i
_
X
i
Y
j
x
i
x
j
Y
j
X
i
x
j
x
i
_
X
i
Y
j
x
i
Y
i
X
j
x
i
_

x
j
òtc that thc sccond dcrivativc tcrms
2
/x
i
x
j
can-
cccd out This is thc secret why thc rackct is a
dicrcntia ojcrator and so dcncs a vcctor cd
39

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Control & Dynamical Systems

A chart on M is a susct U ot M tocthcr with a

A chart on M is a susct U ot M tocthcr with a

suay, wc dcnotc (m) y (x

A chart on M is a susct U ot M tocthcr with a

suay, wc dcnotc (m) y (x

) dcnotcs thc rcstric-

lt f M N and g N P arc dicrcntiac

Iormay incarizc thc cquations and nd thc cquation

Iormay incarizc thc cquations and nd thc cquation

Iormay incarizc thc cquations and nd thc cquation

Thcrc is a onc to onc corrcsjondcncc ctwccn vcctor

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