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A N I N T RO D U C T I O N T O S Y M B O L I C
DY NA M I C S A N D C O D I N G
Second Edition
Symbolic dynamics is a mature yet rapidly developing area of dynamical systems. It has
established strong connections with many areas, including linear algebra, graph theory,
probability, group theory, and the theory of computation, as well as data storage, statistical
mechanics, and C ∗ -algebras.
This Second Edition maintains the introductory character of the original 1995 edition
as a general textbook on symbolic dynamics and its applications to coding. It is written
at an elementary level and aimed at students, well-established researchers, and experts in
mathematics, electrical engineering, and computer science. Topics are carefully developed
and motivated with many illustrative examples. There are more than 500 exercises to test
the reader’s understanding. In addition to a chapter in the First Edition on advanced topics
and a comprehensive bibliography, the Second Edition includes a detailed Addendum, with
companion bibliography, describing major developments and new research directions since
publication of the First Edition.
d1
a J a1 J1
d2 I1 e1
b e b1
I
I2 c1
c K1
K f1 c2
f2 K2
f
Second Edition
DOUGLAS LIND
University of Washington
BRIAN MARCUS
University of British Columbia
University Printing House, Cambridge CB2 8BS, United Kingdom
314–321, 3rd Floor, Plot 3, Splendor Forum, Jasola District Centre, New Delhi – 110025, India
www.cambridge.org
Information on this title:www.cambridge.org/9781108820288
DOI: 10.1017/9781108899727
A catalogue record for this publication is available from the British Library.
ix
x Contents
ADDENDUM . . . . . . . . . . . . . . . . . . . . . . . . 471
§A.1. Classification Problems . . . . . . . . . . . . . . . . . 471
§A.2. Factor Codes and Embeddings . . . . . . . . . . . . . 476
§A.3. Symbolic Models for Smooth Systems . . . . . . . . . . 478
§A.4. Realization . . . . . . . . . . . . . . . . . . . . . . 479
§A.5. Automorphism Groups of Shifts . . . . . . . . . . . . . 481
§A.6. Higher Dimensional Shifts . . . . . . . . . . . . . . . 485
§A.7. Equilibrium States . . . . . . . . . . . . . . . . . . . 495
§A.8. Symbolic Dynamics over Countable Groups . . . . . . . . 502
§A.9. Symbolic Representations of Algebraic Actions . . . . . . 508
BIBLIOGRAPHY . . . . . . . . . . . . . . . . . . . . . . 515
INDEX . . . . . . . . . . . . . . . . . . . . . . . . . . . 544
PREFACE TO FIRST EDITION
xiii
xiv Preface to first edition
mine when one shift of finite type can be embedded in another. The set of
numbers which can occur as entropies of shifts of finite type is determined
in Chapter 11. Also in that chapter we draw on the results of Chapter 10
to prove a partial result towards characterizing the zeta functions of shifts
of finite type (the zeta function is a function which determines the numbers
of periodic sequences of all periods). Some of these results in turn are used
in Chapter 12 to classify shifts of finite type and sofic shifts up to a notion
that sits in between conjugacy and almost conjugacy. The main result of
Chapter 12 may be regarded as a generalization of the Finite-State Coding
Theorem, and tells us when one sofic shift can be encoded into another
in a natural way. Chapter 13 contains a survey of more advanced results
and recent literature on the subject. This is a starting point for students
wishing to become involved in areas of current research.
The mathematical prerequisites for this book are relatively modest. A
reader who has mastered undergraduate courses in linear algebra, abstract
algebra, and calculus should be well prepared. This includes upper-division
undergraduate mathematics majors, mathematics graduate students, and
graduate students studying information and storage systems in computer
science and electrical engineering. We have tried to start from scratch with
basic material that requires little background. Thus in the first five chap-
ters no more than basic linear algebra and one-variable calculus is needed:
matrices, linear transformations, similarity, eigenvalues, eigenvectors, and
notions of convergence and continuity (there are also a few references to
basic abstract algebra, but these are not crucial). Starting with Chapter 6,
the required level of mathematical sophistication increases. We hope that
the foundation laid in the first five chapters will inspire students to continue
reading. Here the reader should know something more of linear algebra,
including the Jordan canonical form, as well as some abstract algebra in-
cluding groups, rings, fields, and ideals, and some basic notions from the
topology of Euclidean space such as open set, closed set, and compact set,
which are quickly reviewed.
The book contains over 500 exercises, ranging from simple checks of
understanding to much more difficult problems and projects. Those that
seem harder have been marked with a ∗ . There is a detailed index as well
as a notation index.
Theorems, propositions, lemmas, and other items are numbered consec-
utively within sections using three parts: k.m.n refers to item n in section
m of Chapter k. For instance, Proposition 5.2.3 refers to the third item in
Section 2 of Chapter 5. Equations are numbered separately with the same
three-part system, but with a different style, so that (3-2-4) refers to the
fourth equation in Section 2 of Chapter 3.
We use the standard notations of Z, Q, R, and C for the sets of integers,
rationals, reals, and complexes, and use Z+ , Q+ , and R+ to denote the
nonnegative elements of the corresponding sets. All matrices are assumed
Preface to first edition xvii
https://sites.math.washington.edu/SymbolicDynamics
The twenty five years since our book was written have seen enormous
advances in areas related to symbolic dynamics, with long-standing prob-
lems solved and completely new research directions undergoing vigorous
development. We wanted to preserve the introductory character of the
original book, while providing an extended account of many of these new
topics in a separate Addendum. Therefore we restricted changes in our
original book to clarifications and correcting minor errors, together with
noting the solutions to the Spectral Conjecture and the Road Problem.
The Addendum surveys topics that appear to us to be important and
interesting. These include the characterization of the entropies of higher
dimensional shifts of finite type, the pivotal use of ideas from computation
theory and logic to attack dynamical problems in higher dimensional shifts,
and the extension of entropy theory to actions of sofic groups. So many
new and interesting developments are happening that we could not possibly
be comprehensive. But we have provided an extensive separate Addendum
Bibliography that we hope will guide the reader to find out more about
something that catches their eye.
We are very grateful for the help we have received from Sebastián
Barbieri, Lewis Bowen, Raimundo Briceño, Justin Cai, Tullio Ceccherini-
Silberstein, Nishant Chandgotia, Michel Coornaert, Madeline Doering, Sør-
en Eilers, Rafael Frongillo, Ricardo Gomez, Ben Hayes, David Kerr, Bruce
Kitchens, Bryna Kra, Hanfeng Li, Tom Meyerovitch, Ronnie Pavlov, Ian
Putnam, Brendan Seward, and Marcelo Sobottka.
We are especially indebted to Mike Boyle, whose list of open problems
in symbolic dynamics played an essential part in structuring the Addendum,
and whose encyclopedic knowledge guided us at many points to provide
perspectives we hope readers will find valuable.
We are also extremely grateful to Luisa Borsato and Sophie MacDonald
for their careful reading of our original text and making many excellent
suggestions and corrections.
Reconstructing this book from the original TEX files (from an incom-
plete backup) using the LAMS-TEX package was only possible with the help
of Ian Allison and Will Kranz.
Finally, it is a great pleasure to thank Roger Astley for his initiative
in proposing this second edition, Clare Dennison for overseeing production
of the book, and Irene Pizzie for her meticulous copyediting.
xix
CHAPTER 1
SHIFT SPACES
Shift spaces are to symbolic dynamics what shapes like polygons and
curves are to geometry. We begin by introducing these spaces, and describ-
ing a variety of examples to guide the reader’s intuition. Later chapters
will concentrate on special classes of shift spaces, much as geometry con-
centrates on triangles and circles. As the name might suggest, on each shift
space there is a shift map from the space to itself. Together these form
a “shift dynamical system.” Our main focus will be on such dynamical
systems, their interactions, and their applications.
In addition to discussing shift spaces, this chapter also connects them
with formal languages, gives several methods to construct new shift spaces
from old, and introduces a type of mapping from one shift space to another
called a sliding block code. In the last section, we introduce a special class
of shift spaces and sliding block codes which are of interest in coding theory.
1
2 Chapter 1. Shift Spaces
This is analogous to using real numbers, continuity, and other ideas from
analysis to describe physical quantities which, in reality, can be measured
only with finite accuracy.
Our principal objects of study will therefore be collections of bi-infinite
sequences of symbols from a finite alphabet A. Such a sequence is denoted
by x = (xi )i∈Z , or by
x = . . . x−2 x−1 x0 x1 x2 . . . ,
x = . . . 010.1101 . . .
Here AZ is the standard mathematical notation for the set of all functions
from Z to A, and such functions are just the bi-infinite sequences of elements
from A. Each sequence x ∈ AZ is called a point of the full shift. Points
from the full 2-shift are also called binary sequences. If A has size |A| = r,
then there is a natural correspondence between the full A-shift and the
full r-shift, and sometimes the distinction between them is blurred. For
example, it can be convenient to refer to the full shift on {+1, −1} as the
full 2-shift.
Blocks of consecutive symbols will play a central role. A block (or word)
over A is a finite sequence of symbols from A. We will write blocks without
separating their symbols by commas or other punctuation, so that a typical
block over A = {a, b} looks like aababbabbb. It is convenient to include the
sequence of no symbols, called the empty block (or empty word) and denoted
by ε. The length of a block u is the number of symbols it contains, and is
denoted by |u|. Thus if u = a1 a2 . . . ak is a nonempty block, then |u| = k,
while |ε| = 0. A k-block is simply a block of length k. The set of all k-blocks
over A is denoted Ak . A subblock or subword of u = a1 a2 . . . ak is a block
§1.1. Full Shifts 3
x[i,j ] = xi xi+1 . . . xj .
By extension, we will use the notation x[i,∞) for the right-infinite sequence
xi xi+1 xi+2 . . . , although this is not really a block since it has infinite length.
Similarly, x(−∞,i] = . . . xi−2 xi−1 xi . The central (2k + 1)-block of x is
x[−k,k] = x−k x−k+1 . . . xk . We sometimes will write x[i] for xi , especially
when we want to emphasize the index i.
Two blocks u and v can be put together, or concatenated, by writing u
first and then v, forming a new block uv having length |uv| = |u| + |v|.
Note that uv is in general not the same as vu, although they have the same
length. By convention, εu = uε = u for all blocks u. If n 1, then un
denotes the concatenation of n copies of u, and we put u0 = ε. The law of
exponents um un = um+n then holds for all integers m, n 0. The point
. . . uuu.uuu . . . is denoted by u∞ .
The index i in a point x = (xi )i∈Z can be thought of as indicating time,
so that, for example, the time-0 coordinate of x is x0 . The passage of time
corresponds to shifting the sequence one place to the left, and this gives a
map or transformation from a full shift to itself.
Definition 1.1.2. The shift map σ on the full shift AZ maps a point x to
the point y = σ(x) whose ith coordinate is yi = xi+1 .
The operation σ, pictured below, maps the full shift AZ onto itself. There
x = . . . x x x . x x x x3 . . .
−3 −2 −1 0 1 2
y = (x ) = . . . x−2 x−1 x0 . x1 x 2 x3 x4 . . .
is also the inverse operation σ −1 of shifting one place to the right, so that σ
is both one-to-one and onto. The composition of σ with itself k > 0 times
σ k = σ ◦ . . . ◦ σ shifts sequences k places to the left, while σ −k = (σ −1 )k
shifts the same amount to the right. This shifting operation is the reason
AZ is called a full shift (“full” since all sequences of symbols are allowed).
The shift map is useful for expressing many of the concepts in symbolic
dynamics. For example, one basic idea is that of codes, or rules, which
4 Chapter 1. Shift Spaces
transform one sequence into another. For us, the most important codes are
those that do not change with time. Consider the map φ: {0, 1}Z → {0, 1}Z
defined by the rule φ(x) = y, where yi = xi + xi+1 (mod 2). Then φ is a
coding rule that replaces the symbol at index i with the sum modulo 2 of
itself and its right neighbor. The coding operation φ acts the same at each
coordinate, or is stationary, i.e., independent of time.
Another way to say this is that applying the rule φ and then shifting gives
exactly the same result as shifting and then applying φ. Going through the
following diagram to the right and then down gives the same result as going
down and then to the right.
x σ σ(x)
φ φ
φ φ
Also I do further declare, that God did never create any Spirit without
a Body, neither of Angels, nor Men, nor no other Creature, neither in
Heaven above, nor in the Earth beneath, nor the Waters under the
Earth. There is no Spirit or Life whatsoever that is created of God,
but it hath a Body to that Life or Spirit; but if a Spirit have any Being
without a Body, that Spirit is none of God's Creation; for God never
created any Spirit whatsoever without a Body, as I said before.
But the Imagination of Reason in Man, which is the Devil, hath
created all Creatures in the Imagination to have Spirits without
Bodies, both of Angels above and Man here on Earth, and all
Creatures upon the Earth, and in the Waters, that have the Breath of
Life, the Imagination of Reason saith, their Spirits may subsist
without Bodies, or go out of those Bodies they have, and enter into
other Bodies, and appear in the Shape of a Body, and yet be of no
Substance: so that the Devil's Creation is all of Spirits without
Bodies, and God's Creation is all with Bodies and Spirits together.
And this Darkness hath overspread the Nature of Man all the World
over, which is the Occasion of that Opinion of Houses and Places
being haunted with evil Spirits, and Spirits walking without Bodies,
and dealing with Familiar Spirits, that peep, and mutter, and whisper
as it were out of the Ground. These Things and many more are
produced by the Imagination of the Heart of Man, for the Imagination
of Man's Heart is evil, and continually evil; for it hath given a Being to
Spirits without Bodies, to fright it self to that which hath no Being of it
self.
For I declare and perfectly know, that there is no such Thing as
Spirits to walk without Bodies, nor assume any Shape after Death,
nor be raised out of the Ground by any Witch or any Familiar Spirit
whatsoever; it is all produced out of the dark Imagination of the
Heart, where Ignorance beareth Rule, for there is no such Thing can
be presented but to the Ignorant and dark minded People.
Thus I have given the Reader to understand something more
concerning the Power of Witches, and how they may be said to raise
Spirits out of the Ground, and from whence that low Speech doth
come, with those Scriptures opened that speak as if a Familiar Spirit
did hear whispering out of the Dust.
Also I have given the Interpretation of that in Samuel concerning the
Witch of Endor, and those Places of Scripture in Isaiah; these Places
are the most concerning Spirits being raised without Bodies, of any
in the Scriptures; but there have been some other Places of
Scriptures, that do seem to carry a shew as if Spirits might rise again
without Bodies, and I have been desired by some to open those
Scriptures that seem to tend to that Purpose, though the common
and general Objection amongst all People is, that of the Witch of
Endor and King Saul, which I have opened before; yet for the further
Satisfaction of the Reader, I shall open and interprete the other
Places objected, that seem to tend to the same thing.
The Places of Scripture are three; the first is Isa. lxi. 1. the Words
are these, The Spirit of the Lord God is upon me, because the Lord
hath anointed me to preach good Tidings unto the Meek: He hath
sent me to bind up the Broken-hearted, to proclaim Liberty to the
Captives, and the opening of the Prison to them that are bound——
So Luke iv. 18. the Words in Luke are much to the same Purpose,
and little Difference; only that which Isaiah did prophesy of, it was
fulfilled by Christ in his time——So the first Epistle of Peter, Chap. iii.
and 18, 19, 20. Verses; the Words are these, For Christ also hath
once suffered for Sin, the Just for the Unjust; that he might bring us
to God, being put to Death in the Flesh, but quickened by the Spirit.
Verse 19. By which also he went and preached unto the Spirits in
Prison: Verse 20. Which sometime were disobedient, when once the
Long-suffering of God waited in the Days of Noah, while the Ark was
a preparing, wherein few (that is) eight Souls were saved by Water.
CHAP. XII.
There is one thing more that would be necessary for the wise in
Heart to know, which the Scriptures speak of in several Places; but I
never heard any of the Ministry tell what that Satan is the Scriptures
speak of, therefore I shall speak a Word or two to shew what Satan
is, and so conclude. 1 Chron. xxi. 1. And Satan stood up against
Israel; and Job i. 6. And Satan came also among them; and Chap.
xxi. 22. And the Lord said to Sathan, From whence comest thou?
And God said to Satan, Hast thou considered my Servant Job?
Ezek. iii. 1. And Satan standing at his right Hand. Mat. xvi. 23. Get
the behind me, Satan. Luke x. 18. I beheld Satan as Lightning fall
from Heaven.
1 Chron. xxi. 1. And Satan stood up against Israel, and provoked
David to number Israel. This Satan that provoked David, it was the
Motions of Reason in himself, being lifted up in his own Mind, in that
he had overcome the Children of Ammon, he thought to make
nothing of the Philistines; therefore the Thoughts of his Heart moved
him to number the People, to know his Strength. And this Motion that
did arise in his Heart, it was Satan, it is called Satan, because those
Motions proceed from the Spirit or Seed of Reason in him. In 2 Sam.
xxiv. 1. it is said, The Anger of the Lord was kindled against Israel,
and he moved David against them to say, Go, number Israel: that is,
the Lord suffered the Motions of Reason in David to be powerful and
strong in him, that no Arguments should disswade him from it, but
the People must be numbred; and this was that Satan in David, and
no Spirit without him.
So Job i. 6. The Sons of God came to present themselves before the
Lord, and Satan came also among them. To this I say, the Book of