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The KAM limit parametrisation is an embedding of the torus: injectivity modulo 2π, rank-n differential and Lipschitz inverse

Statement

Assume the data, constants, sequences, one-step construction and notation of Convergence of the composed KAM transformations, with derivative and frequency-Lipschitz bounds, the conjugacy symmetry of Conjugation symmetry of the KAM construction: real perturbations produce real tori (so that the initial perturbation is conjugation-symmetric), and assume in addition that the fixed data satisfy 4nCE0≤1, where C bounds both the one-step constant and the composition constant A; this is a smallness condition on the fixed constants, available in the applications by shrinking the step constant. Let Ψ∞(0,ϑ,ν)=(b(ϑ,ν),ϑ+w(ϑ,ν)) be the limiting family of Convergence of the composed KAM transformations, with derivative and frequency-Lipschitz bounds and Θν(ϑ):=ϑ+w(ϑ,ν) its angle component. Then for every ν∈Ωα,τ:

  1. Contraction and injectivity. For all real ϑ,ϑ′, ∣w(ϑ,ν)−w(ϑ′,ν)∣1≤12∣ϑ−ϑ′∣1,∣Θν(ϑ)−Θν(ϑ′)∣1≥12∣ϑ−ϑ′∣1; in particular Θν is injective on Rn and Ψ∞(0,ϑ,ν)=Ψ∞(0,ϑ′,ν) with real ϑ,ϑ′ forces ϑ=ϑ′.
  2. Descent to the torus. Ψ∞(0,ϑ+2πk,ν)=Ψ∞(0,ϑ,ν)+(0,2πk) for every k∈Zn; consequently the parametrisation induces a well-defined continuous injective map Ψ^ν:Tn⟶Rn×Tn,Ψ^ν∘π=Π∘Ψ∞(0, ⋅ ,ν), where π:Rn→Tn is the quotient map and Π reads the angle coordinates modulo 2π.
  3. Immersion. At every real ϑ the differential DϑΨ∞(0,ϑ,ν) has rank n; equivalently In+∂ϑw(ϑ,ν) is invertible.
  4. Embedding with Lipschitz inverse. Define dTn(πϑ,πϑ′):=min⁡k∈Zn∣ϑ−ϑ′−2πk∣∞ and dphase((p,πϑ),(p′,πϑ′)):=max⁡{∣p−p′∣∞,dTn(πϑ,πϑ′)}. Then the inverse of Ψ^ν on its image is Lipschitz with constant 2n, and Ψ^ν is a homeomorphism of Tn onto its image; in particular the image is an embedded n-dimensional torus in the phase space, and it is real (clause 3 of Conjugation symmetry of the KAM construction: real perturbations produce real tori).
  5. Dynamical reading. The image of Ψ^ν is invariant under XH( ⋅ ;χ∞(ν)) with frequency ν and Lagrangian, in the sense of clauses 1-3 of The parameter KAM limit: invariant quasi-periodic motion with frequency ν and Lagrangian images.

Facts & Assumptions

Given: The data, constants and one-step construction of Convergence of the composed KAM transformations, with derivative and frequency-Lipschitz bounds, a conjugation-symmetric initial perturbation, the limit family Ψ∞=(b,id+w) and the smallness 4nCE0≤1.

[F1]

The conclusions of Convergence of the composed KAM transformations, with derivative and frequency-Lipschitz bounds: Ψj→Ψ∞ uniformly on L together with all ϑ-derivatives; each Ψj is 2π-equivariant in ϑ, Ψj(I,ϑ+2πk,ν)=Ψj(I,ϑ,ν)+(0,2πk) for all k∈Zn and all points of Dj (clause 1); and the size bounds ∣b∣≤2Cr0E0, ∣w∣≤2Cσ0E0, ∣∂ϑiw∣≤2CE0 on Ss0/4×Ωα,τ (clause 4).

[F2]

For real ϑ,ν, each component wj is real by [F6]. The curve t↦wj(ϑ+t(ϑ′−ϑ),ν) is differentiable by the chain rule, with derivative ∑i(∂ϑiwj)(ϑ+t(ϑ′−ϑ),ν)(ϑi′−ϑi). The one-variable mean-value inequality therefore bounds its change by the supremum of this derivative on the segment (The chain rule for total derivatives: D(g∘f)(a)=Dg(f(a))∘Df(a), The mean value inequality: if f:[a,b]→Rm is continuous and differentiable on (a,b) with ∥f′∥2≤M, then ∥f(b)−f(a)∥2≤M(b−a)).

[F3]

For representatives ϑ,ϑ′, the minimum in dTn(πϑ,πϑ′)=min⁡k∈Zn∣ϑ−ϑ′−2πk∣∞ is attained by choosing a nearest integer in each coordinate. The formula is independent of representatives, is zero exactly for equivalent representatives, is symmetric, and satisfies the triangle inequality by combining minimizing lattice shifts; hence it is a metric. Its radius-r ball is π(B∞(ϑ,r)). The quotient topology makes this ball open: π−1(π(V))=⋃k∈Zn(V+2πk) is open for every open V. Conversely, any quotient-open neighbourhood lifts to an open neighbourhood of a representative and hence contains such a ball, so the quotient topology is the metric topology of dTn. The phase space carries the product topology (Analytic KAM data: angular tori, action-angle neighbourhoods, Fourier cutoffs and Diophantine frequency labels, The quotient topology of a surjection, quotient maps, saturated sets, and the quotient of a space by an equivalence relation with its canonical projection, The product set ∏i∈IXi of functions choosing a point in each factor, the projections, the box topology, and the product topology as the initial topology of the projections; the empty product is a one-point space, Continuity of a map of topological spaces at a point and globally, Open ball, closed ball and sphere in a metric space).

[F4]

Elementary linear algebra: if A∈Mn(C) satisfies ∣Av∣1≤12∣v∣1 for all v∈Cn, then In+A is injective, since (In+A)v=0 gives ∣v∣1=∣Av∣1≤12∣v∣1.

[F5]

Pointwise canonical calculus (A C1 map between phase domains preserves the standard two-form iff DCTJ DC=J, and a canonical diffeomorphism carries XH∘C to XH clause 1 and its transport calculation): in action-first order put Ja:=(0−InIn0), so Xf=Ja∇f=(−fϑ,fI) for ω=∑jdϑj∧dIj. For a canonical phase map with Jacobian M, MTJaM=Ja. This makes M invertible and implies MJaMT=Ja by inversion, since Ja−1=−Ja. The chain rule then gives MXH∘C=XH∘C pointwise. This calculation requires only the canonical Jacobian, not a globally defined inverse. The limiting dynamical identities will be proved locally below; the additional smallness in The parameter KAM limit: invariant quasi-periodic motion with frequency ν and Lagrangian images is not assumed.

[F6]

Reality: for real ϑ,ν the point Ψ∞(0,ϑ,ν) is real (Conjugation symmetry of the KAM construction: real perturbations produce real tori clause 3).

[F7]

Put Wj:=diag⁡(rj−1In,σj−1In) and use the induced maximum-norm operator norm ∥M∥=max⁡a∑b∣Mab∣ (The operator norm as the least bound and as the unit-sphere or unit-ball supremum). It satisfies ∣Mv∣∞≤∥M∥∣v∣∞ and ∥MN∥≤∥M∥∥N∥ by taking the supremum over ∣v∣∞≤1. The one-step construction has ∥Wj(DzΦ~j−I2n)Wj−1∥≤CEj on its declared domain (One KAM step: the affine generator, its canonical time-one flow, and the quadratic remainder bound clause 2). The sequences give rj+1=ηjrj, ηj≤1/8, σj+1=σj/2, Ej≤4−jE0, and hj+1=hj4−μ (The KAM parameter sequence: every step satisfies the smallness, truncation, parameter and contraction hypotheses), where μ=τ+3n+2>1.

[F8]

At every stage Pj is holomorphic on Drj,sj,hj(Λ) and bounded there by εj=αEjrjσjμ, as stipulated in the one-step data of Convergence of the composed KAM transformations, with derivative and frequency-Lipschitz bounds. Coordinate Cauchy estimates with action margin rj/2 and angular margin 8σj give ∣∂IiPj∣≤2εj/rj and ∣∂ϑiPj∣≤εj/(8σj) on Dj (Fourier decay, Cauchy derivative bounds, lattice shell counts and the exponential small-divisor sums on action-angle neighbourhoods). Thus ∣WjXPj∣∞≤2εj/(rjσj) there.

Proof

technique · direct; bound the angle error from the derivative bound, descend to the torus by equivariance, and control the inverse through the contraction estimate
1.1givenF1F2F6algebra

Contraction and injectivity. By [F1] each partial derivative obeys ∣∂ϑiwj∣≤2CE0 on the domain. For fixed real ϑ,ϑ′ and each component wj, reality follows from [F6], and the curve t↦wj(ϑ+t(ϑ′−ϑ),ν) has derivative bounded by 2CE0∣ϑ−ϑ′∣1 by [F2]; the one-variable mean-value inequality gives ∣wj(ϑ)−wj(ϑ′)∣≤2CE0∣ϑ−ϑ′∣1. Summing over j gives ∣w(ϑ,ν)−w(ϑ′,ν)∣1≤2nCE0∣ϑ−ϑ′∣1≤12∣ϑ−ϑ′∣1 by 4nCE0≤1; then ∣Θν(ϑ)−Θν(ϑ′)∣1≥∣ϑ−ϑ′∣1−∣w(ϑ,ν)−w(ϑ′,ν)∣1≥12∣ϑ−ϑ′∣1, so Θν is injective, and Ψ∞(0,ϑ,ν)=Ψ∞(0,ϑ′,ν) implies Θν(ϑ)=Θν(ϑ′), hence ϑ=ϑ′. This is clause 1.

1.2givenF1F7algebra

Weighted phase Jacobians with the retracted parameters. Write Λ:=Ωα,τ and Dj=Brj/2×Ssj−8σj×Ohj+1(Λ) as in the composition supplier. For xj=(z,ν)∈Dj, recursively put xi=(zi,λi):=Ti(xi+1) for i=j−1,…,0, so xi∈Di and λi=ϕi(λi+1). Since these parameter coordinates are independent of the input phase z, the phase chain rule gives DzΨj=M0⋯Mj−1 with Mi:=DzΦ~i(zi+1,λi). The domain inclusions and retraction bounds of the composition supplier put each evaluation in the domain of [F7]'s one-step estimate. As WiWi+1−1=diag⁡(ηiIn,12In), [F7] gives ∥WiMiWi+1−1∥≤(1+CEi)/2≤9/16, using CEi≤CE0≤1/(4n)≤1/8. Inserting the adjacent weights into the product yields ∥W0DzΨjWj−1∥≤(9/16)j≤1, including the identity product at j=0.

2.1step 1.1F1F3algebra

Descent and injectivity on the torus. By [F1] each Ψj is 2π-equivariant and L is invariant under ϑ↦ϑ+2πk; passing to the uniform limit on L gives Ψ∞(0,ϑ+2πk,ν)=Ψ∞(0,ϑ,ν)+(0,2πk), so ϑ↦Ψ∞(0,ϑ,ν) maps equivalent points to points whose difference lies in {0}×2πZn and therefore induces a well-defined map Ψ^ν on Tn; it is continuous by the quotient property of [F3]; if Ψ^ν(πϑ)=Ψ^ν(πϑ′), then Θν(ϑ)−Θν(ϑ′)=2πk for some k∈Zn, and putting ϑ′′:=ϑ−2πk the equivariance gives Θν(ϑ′′)=Θν(ϑ′), so step 1.1 forces ϑ′′=ϑ′, i.e. πϑ=πϑ′; hence Ψ^ν is injective. This is clause 2.

2.2step 1.1F1F4algebra

Immersion. Let v∈Cn and suppose DϑΨ∞(0,ϑ,ν)v=0 at a real ϑ; the second component of this derivative is (In+∂ϑw(ϑ,ν))v, so ∣v∣1=∣−∂ϑw(ϑ,ν)v∣1≤2nCE0∣v∣1≤12∣v∣1 by the entrywise bound of step 1.1, and [F4] gives v=0; hence the differential has rank n. This is clause 3.

2.3step 1.2F1F5F7F8algebra

The finite normal-form residual. Fix a real label ν and a real phase point in Dj. The finite phase maps and parameter images are real by the one-step symmetry already proved in Conjugation symmetry of the KAM construction: real perturbations produce real tori; they are canonical by the composition supplier. Put H:=H0 and freeze its original parameter at χj(ν). The exact identity H(Ψj(z,ν);χj(ν))=ej(ν)+ν⋅I+Pj(z,ν) and the pointwise transport calculation [F5] give XH(Ψj;χj(ν))−DzΨj(0,ν)=DzΨjXPj. Here (0,ν) denotes the constant phase vector, while the parameter is fixed. By step 1.2 and [F8], the maximum norm of this residual after multiplication by W0 is at most 2εj/(rjσj)=2αEjσjμ−1. Since Ej≤4−jE0, σj=σ02−j and μ>1, this bound tends to zero.

3.1step 1.1step 2.1algebra

Lipschitz inverse. Let x=πϑ, y=πϑ′. Choose an integer vector k minimizing ∣Θν(ϑ)−Θν(ϑ′)−2πk∣∞; such a minimizer exists by choosing a closest integer in each coordinate. Step 1.1 applied to ϑ−2πk and ϑ′, with equivariance from step 2.1, gives ∣ϑ−ϑ′−2πk∣1≤2∣Θν(ϑ)−Θν(ϑ′)−2πk∣1≤2n dTn(πΘν(ϑ),πΘν(ϑ′)). The domain quotient distance is at most the left-hand side, and the phase distance is at least its angular quotient distance, so dTn(x,y)≤2n dphase(Ψ^ν(x),Ψ^ν(y)).

3.2step 2.3F1F5F6algebra

The limiting invariance identity. At z=(0,ϑ) with real ϑ, [F1] supplies convergence of the phase maps, their angular derivatives and the parameter maps. Each extended image lies in D0, so the action limit has maximum norm at most r0/2<r0, and dist⁡∞(χ∞(ν),Λ)≤h1=h04−μ<h0; the latter follows from the triangle inequality for distance and convergence. All limiting coordinates are real by [F6] and the symmetry supplier, so the angle limit lies in Ss0. The limit is therefore inside the open domain of H0, where XH is continuous. Passing to the limit in step 2.3, with W0 a fixed invertible matrix, gives XH(Ψ∞(0,ϑ,ν);χ∞(ν))=∑iνi∂ϑiΨ∞(0,ϑ,ν). The chain rule then makes t↦Ψ∞(0,ϑ0+tν,ν) an integral curve for every real t.

4.1step 2.1step 3.1F3F6algebra

The embedding. Let U⊆Tn be open and x0∈U; by [F3] there is δ>0 with {x:dTn(x,x0)<δ}⊆U, and by step 3.1 every y with dphase(Ψ^ν(y),Ψ^ν(x0))<δ/(2n) satisfies dTn(y,x0)<δ, hence lies in U; therefore Ψ^ν(U) is relatively open in the image, so the continuous bijection Ψ^ν:Tn→Ψ^ν(Tn) has continuous inverse, i.e. is a homeomorphism onto its image. This proves clause 4, together with the reality statement of [F6].

5.1step 4.1step 3.2F1F5algebra∎

The limiting Lagrangian image. The inclusion ι0(ϑ):=(0,ϑ) has ι0∗ω=0. At each fixed real target label the canonical phase map satisfies (Ψj∘ι0)∗ω=ι0∗(Ψj∗ω)=0. Each coefficient of this pullback is a finite sum of products of first angular derivatives of Ψj∘ι0; their convergence in [F1] therefore gives (Ψ∞∘ι0)∗ω=0. Together with the embedding of step 4.1 and the integral curves of step 3.2, this proves clause 5 under the stated 4nCE0≤1, without assuming CE0≤1/16.

Remarks

  • Sharpness of the smallness. The hypothesis 4nCE0≤1 is exactly what makes the angle map a strict contraction in the ℓ1-norm; it costs only a smaller step constant, hence a smaller final threshold, and no loss in the structure of the conclusion.
  • What is and is not claimed. The lemma produces an embedded torus for each Diophantine parameter; it does not claim that the family has positive measure (that is the content of the measure theorem) nor that the motion is stable in any sense beyond invariance.

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