Lectures On Partial Hyperbolicity and Stable Ergodicity Yakov Pesin Download
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Pesin_titelei.qxd 26.5.2004 9:58 Uhr Seite 1
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Edited by
Marc Burger (Managing Editor), Erwin Bolthausen, Freddy Delbaen, Thomas Kappeler, Christoph Schwab,
Michael Struwe, Gisbert Wüstholz
Mathematics in Zurich has a long and distinguished tradition, in which the writing of lecture notes volumes
and research monographs play a prominent part. The Zurich Lectures in Advanced Mathematics series aims
to make some of these publications better known to a wider audience. The series has three main constitu-
ents: lecture notes on advanced topics given by internationally renowned experts, graduate text books desi-
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concise and lively in style, the volumes of this series will appeal to researchers and students alike, who seek
an informed introduction to important areas of current research.
Yakov B. Pesin
Lectures on partial
hyperbolicity
and stable ergodicity
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European Mathematical Society
Pesin_titelei.qxd 26.5.2004 9:58 Uhr Seite 4
Author:
Yakov B. Pesin
Department of Mathematics
The Pennsylvania State University
University Park, PA 16802
USA
ISBN 3-03719-003-5
This work is subject to copyright. All rights are reserved, whether the whole or part of the material is
concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting,
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987654321
To my wife, Natasha
Contents
1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
2. The Concept of Hyperbolicity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1. Complete hyperbolicity (Anosov systems) . . . . . . . . . . . . . . . . . . 5
2.2. Definition of partial hyperbolicity . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3. Examples of partially hyperbolic systems . . . . . . . . . . . . . . . . . . 16
3. The Mather Spectrum Theory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.1. Mather’s spectrum of a diffeomorphism . . . . . . . . . . . . . . . . . . . . 18
3.2. Stability of Mather’s spectrum . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.3. Hölder continuity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4. Stable and Unstable Foliations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.1. Foliations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.2. Stable Manifold theorem. The statement . . . . . . . . . . . . . . . . . . 30
4.3. The invariance equation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.4. Local stable manifold theorem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.5. Construction of global manifolds . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.6. Filtrations of foliations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.7. The Inclination Lemma . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.8. Structural stability of Anosov diffeomorphisms . . . . . . . . . . . . . 45
5. Central Foliations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
5.1. Normal hyperbolicity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
5.2. Local stability of normally hyperbolic manifolds . . . . . . . . . . . 49
5.3. Integrability of the central foliation . . . . . . . . . . . . . . . . . . . . . . . . 50
5.4. Central foliation and normal hyperbolicity . . . . . . . . . . . . . . . . . 55
5.5. Robustness of the central foliation . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.6. Weak integrability of the central foliation . . . . . . . . . . . . . . . . . . 62
6. Intermediate Foliations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
6.1. Non-integrability of intermediate distributions . . . . . . . . . . . . . 64
6.2. Invariant families of local manifolds . . . . . . . . . . . . . . . . . . . . . . . . 65
6.3. Insufficient smoothness of intermediate foliations . . . . . . . . . . 70
7. Absolute Continuity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
7.1. The holonomy map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
7.2. Absolute continuity of local manifolds . . . . . . . . . . . . . . . . . . . . . 83
7.3. Ergodicity of Anosov maps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
7.4. An example of a non-absolutely continuous foliation . . . . . . . 86
8. Accessibility and Stable Accessibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
8.1. The accessibility property . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
viii YA. PESIN
everywhere dense). The map T is called topologically mixing if for any two
open sets U and V there exists N such that T n (U ) ∩ V = ∅ for each n ≥ N .
For an Anosov diffeomorphism f of a compact connected manifold the
following statements are equivalent:
1. all points in M are non-wandering;
2. f is topologically transitive;
3. f is topologically mixing;
4. each stable leaf W s (x) and each unstable leaf W u (x) is dense.
It is an open problem whether every Anosov diffeomorphism has these prop-
erties although in all known examples this is the case.
4. Ergodicity. A measure-preserving transformation T of a Lebesgue
space (X, ν) is called ergodic if any measurable invariant subset A ⊂ X has
measure either zero or one; equivalently, any measurable invariant (mod 0)
function is constant (mod 0).
Assume that an Anosov diffeomorphism f preserves a smooth measure ν
on M (i.e., a measure which is equivalent to the Riemannian volume). If the
manifold is connected then f is ergodic. If f is topologically mixing then it
is isometric (in the measure-theoretical sense) to a Bernoulli automorphism.
5. Stability and structural stability. Any sufficiently small perturbation
g of an Anosov diffeomorphism f (in the C 1 topology) is again an Anosov
diffeomorphism (this is a particular case of Theorem 3.6 below). Moreover,
the map g is topologically conjugate to f via a homeomorphism h : M → M ,
i.e., f ◦ h = h ◦ g and h is C 0 close to the identity map (see Theorem 4.11).
It follows that any sufficiently small perturbation of a linear hyperbolic
automorphism of the torus is an Anosov diffeomorphism.
We describe an example of an Anosov map of algebraic origin for which
the phase space is not a torus. We follow [29] (see Section 17.3).
Let G be a simply connected Lie group and Γ a (uniform) lattice, i.e., a
discrete subgroup such that the factor Γ\G is compact. For some nilpotent
Lie groups Γ one can show that there exists an automorphism F : G → G
preserving Γ, i.e., F (Γ) = Γ, and such that dF | Id is hyperbolic. Note that
F projects to Γ\G. One can show that there is an invariant splitting of the
Lie algebra
L(G) = TId G = E s ⊕ E u
and a norm on L(G) with respect to which dF |E s and dF −1 |E u are both
contractions. Applying the differential of the left translation x → gx one can
“spread out” the invariant splitting at Id to obtain an invariant hyperbolic
splitting for F . By construction, this splitting and the norm are invariant
under left translations, so they induce a splitting and a norm on the compact
8 YA. PESIN
nilmanifold Γ\G. The factor f : Γ\G → Γ\G is an Anosov map (see also
Section 6.1).
6. Anosov flows. We extend the notion of complete hyperbolicity to
dynamical systems with continuous time.
Let ϕt : M → M be a C 2 flow on a compact smooth Riemannian manifold.
It is generated by the vector field
d
X(t) = (ϕt (x))|t=0 .
dt
The flow ϕt is called an Anosov flow if for each x ∈ M there exist a decompo-
sition Tx M = E s (x)⊕E 0 (x)⊕E u (x) and constants c > 0 and 0 < λ < 1 < µ
such that for each x ∈ M ,
1. E 0 (x) is the one-dimensional subspace generated by the vector field
X(t);
2. dx ϕt E s (x) = E s (ϕt (x)) and dx ϕt E u (x) = E u (ϕt (x));
3. dx ϕt v ≤ cλt v whenever v ∈ E s (x) and t ≥ 0;
4. dx ϕ−t v ≤ cµ−t v whenever v ∈ E u (x) and t ≥ 0.
A simple example of an Anosov flow is a suspension flow over an Anosov
diffeomorphism. Let f be an Anosov diffeomorphism of a compact Riemann-
ian manifold M and H a smooth function on M called the roof function.
Consider the direct product M × [0, ∞) and define the flow Tt in the follow-
ing way. Starting with a point (x, 0), set Tt (x, 0) = (x, t) if t < H(x) and
TH(x) (x, 0) = (f (x), 0) (see Figure 2). The phase space M = M × [0, 1]/∼ for
the suspension flow is diffeomorphic to the direct product M × [0, 1], where
the sections M × 0 and M × 1 are identified by the action of f .
H(x)
f (x)
Note that if the roof function H(x) = 1 for all x ∈ M , the time-1 map
T1 is not topologically transitive, since each t-level of M gets mapped into
LECTURES ON PARTIAL HYPERBOLICITY AND STABLE ERGODICITY 9
t y = γ(t)
v w
γ
x
To explain this result assume that the manifold V has constant nega-
tive curvature. Consider the Poincaré (ball) model for the universal cover
V = Hn (n-dimensional hyperbolic space) of V . Given (x, v) ∈ M = S V , the
geodesic γ(x,v) (t) determines two points, γ(−∞) and γ(+∞), on the ideal
boundary of Hn (that is, the unit sphere). The two points x and γ(+∞) de-
termine the unique horosphere H s (x, v) that can be characterized as follows:
for any y ∈ H s (x, v) there is a unique geodesic γ passing through y and as-
ymptotic to γ(x,v) (t) (i.e., the distance ρ(γ(t), γ(x,v) (t)) is bounded; one can
show that, indeed, this distance decreases to zero with an exponential rate).
The framing of H s (x, v) by the orthonormal vectors directed towards γ(+∞)
is the global stable manifold W s (x, v) passing through (x, v). Similarly, the
two points x and γ(−∞) determine the unique horosphere H u (x, v) and its
framing by the orthonormal vectors directed outward γ(−∞) is the global
unstable manifold W u (x, v) passing through (x, v) (see Figure 4).
γ(−∞)
H u (x, v)
x
H s (x, v)
γ(+∞)
1. E(x) and F (x) form an invariant splitting of the tangent space, i.e.,
Tx M =E(x) ⊕ F (x),
(2.1)
dx f E(x) = E(f (x)), dx f F (x) = F (f (x));
2. for n > 0,
Harvey Anderson.
Harry Egerton.
Harvey Anderson.
Harry Egerton.
Good-night.
(Harvey Anderson takes up his pack and cast and goes
off through the darkness after the other men. For a
long time Harry Egerton stands looking after him. The
fire has burned low)
Harry Egerton.
My father! O my father!
Second Voice.
(From the valley, full of sorrow)
Voice.
(From above)
First Voice.
Voice.
(From above)
Second Voice.
Third Voice.
First Voice.
(Gayly)
Fool! fool!
Second Voice.
Voice.
(From above)
Decide!
Harry Egerton.
My God!
Voice.
(From above)
Decide!
Harry Egerton.
My God!
Voice.
(As of a drunkard singing)
Voices.
Harry Egerton.
Mother! mother!
Second Lady.
Third Lady.
(Laughter)
Fourth Lady.
Gladys Egerton.
(Continues dancing)
Mrs. Egerton.
A Man's Voice.
Gladys Egerton.
All right.
A Man.
(Appearing forward right)
Sixth Lady.
Third Lady.
(Calling aloud)
(Laughter)
Fourth Lady.
Sixth Lady.
Fourth Lady.
Eighth Lady.
Yes, what a pity.
Ninth Lady.
Seventh Lady.
Eighth Lady.
Seventh Lady.
Eighth Lady.
Seventh Lady.
That's true.
Ninth Lady.
Gladys Egerton.
(Who has been skipping to the music, whirls in from the
main hall)
Mother is old.
Ninth Lady.
I did not mean for you to overhear that.
Gladys Egerton.
(Continues dancing)
Eighth Lady.
Gladys Egerton.
Mother!
Mrs. Egerton.
Yes, darling.
Gladys Egerton.
(Dances)
Mrs. Egerton.
I do not know.
Gladys Egerton.
Mrs. Egerton.
Gladys Egerton.
Yes.
(Dances)
Mrs. Egerton.
Don't, my child,
Don't say that.
Gladys Egerton.
(Mysteriously)
Why?
Mrs. Egerton.
Gladys Egerton.
(Dances)
Let go! let go!
Mrs. Egerton.
Gladys Egerton.
Mrs. Egerton.
Gladys Egerton.
Mrs. Egerton.
Gladys Egerton.
(Whirling back into the main hall)
I know.
Mother!
Mrs. Egerton.
Yes, George.
George Egerton.
Mrs. Egerton.
George Egerton.
Mrs. Egerton.
George Egerton.
Mrs. Egerton.
George Egerton.
Mrs. Egerton.
(Calling aloud)
My father! O my father!
Charles.
My father! O my father!
(The mountain lion upon the newel-post spits the light
from his mouth and it breaks upon the floor. The
monster then gets down)
Lion.
Chris!
A Voice.
Yes.
Lion.
Mike!
A Voice.
Here.
Lion.
Wes Dicey!
A Voice.
Sure.
Harry Egerton.
(As though a roll were being called)
Harvey Anderson!
Lion.
A Voice.
Who's Harvey Anderson?
Second Voice.
Lion.
Voices.
(Above)
Third Voice.
Who's that?
Voices.
(Below)
A Voice.
Voices.
(From round the walls)
Voices.
(From far below)
Voices.
Lion.
Voices.
(From far away)
Voices.
(From up the stairs)
Voices.
(Far up)
Lion.
Come down!
You've held her up too long already!
Other Voices.
Second Voice.
Several Voices.
Right! Right!
Lion.
All.
We're one! We're one!
A Voice.
Lion.
Figures.
Donald Egerton.
Lion.
That's true!
And we made you!
Figures.
Lion.
We made each other!
You are our father and we your mother!
Figures.
Lion.
Governor Braddock.
Donald Egerton.
Governor Braddock.
Lion.
Figures.
Donald Egerton.
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