Dynamics of generalised exponential maps
Patrick Comd\"uhr, Vasiliki Evdoridou, David J. Sixsmith

TL;DR
This paper extends the study of exponential map dynamics from complex functions to a broader class of continuous maps in c2, demonstrating that key properties are due to their elementary structure rather than analyticity.
Contribution
The paper generalizes the dynamical properties of exponential maps b5_a to a large class of continuous, not necessarily quasiregular, maps in c2, highlighting the role of elementary function structure.
Findings
Similar dynamical properties observed in broader class of maps
Dynamical complexity arises from elementary structure, not analyticity
Extension of Julia set concepts to non-quasiregular maps
Abstract
Since 1984, many authors have studied the dynamics of maps of the form , with . It is now well-known that the Julia set of such a map has an intricate topological structure known as a Cantor bouquet, and much is known about the dynamical properties of these functions. In recent papers some of these ideas have been generalised to a class of quasiregular maps in , which, in a precise sense, is analogous to the class of maps of the form . Our goal in this paper is to make similar generalisations in . In particular, we show that there is a large class of continuous maps, which, in general, are not even quasiregular, but are closely analogous to the map , and have very similar dynamical properties. In some sense this shows that many of the interesting dynamical properties of the map …
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Taxonomy
TopicsMathematical Dynamics and Fractals · Quantum chaos and dynamical systems · Advanced Differential Equations and Dynamical Systems
Dynamics of generalised exponential maps
Patrick Comdühr, Vasiliki Evdoridou, David J. Sixsmith
Mathematisches Seminar
Christian-Albrechts-Universität zu Kiel
Ludewig-Meyn-Str. 4
D–24098 Kiel
Germany
https://orcid.org/0000-0003-1811-7840
School of Mathematics and Statistics
The Open University
Milton Keynes MK7 6AA
UK
https://orcid.org/0000-0002-5409-2663
Dept. of Mathematical Sciences
University of Liverpool
Liverpool L69 7ZL
UK
https://orcid.org/0000-0002-3543-6969
Abstract.
Since 1984, many authors have studied the dynamics of maps of the form , with . It is now well-known that the Julia set of such a map has an intricate topological structure known as a Cantor bouquet, and much is known about the dynamical properties of these functions.
In recent papers some of these ideas have been generalised to a class of quasiregular maps in , which, in a precise sense, is analogous to the class of maps of the form . Our goal in this paper is to make similar generalisations in . In particular, we show that there is a large class of continuous maps, which, in general, are not even quasiregular, but are closely analogous to the map , and have very similar dynamical properties. In some sense this shows that many of the interesting dynamical properties of the map arise from its elementary function theoretic structure, rather than as a result of analyticity.
The second author was supported by Engineering and Physical Sciences Research Council grant EP/R010560/1.
2010 Mathematics Subject Classification. Primary 37F10; Secondary 30D05.
Key words: complex dynamics, exponential functions.
1. Introduction
Let be a function, and let denote the th iterate of . In this paper we are interested in the iteration of a continuous function , which need not be analytic, and throughout we identify with the complex plane in the obvious way. A special case of such a function is when is transcendental entire. Then we define the Julia set as the set of points where the iterates fail to form a normal family in any neighbourhood of ; roughly speaking, the iterates of are chaotic near a point in the Julia set. For an introduction to the properties of the Julia set, and the dynamics of transcendental entire functions, see, for example, [Ber93] and [Sch10].
In the study of the dynamics of transcendental entire functions, many authors have considered maps of the form
[TABLE]
It is straightforward to show that has an attracting fixed point . We denote by the set of points that are attracted to ; in other words
[TABLE]
It can be shown that . (Clearly here is the Fatou set of , but we do not use this fact.)
The first study of the dynamics of maps of the form (1) was by Devaney and Krych [DK84]. Many authors since then have investigated these maps, and in the following we summarise some of the most important results that are known concerning their dynamical properties. Before stating the result we need a number of definitions.
We say that a component of is a Devaney hair if it is a simple curve with the properties that:
- (I)
as . 2. (II)
For each , is a simple curve that connects to . We call the endpoint of the curve . 3. (III)
For each , as uniformly on .
Note that there are other definitions of a Devaney hair in the literature; we have used the definition first used in [RRS10], although, unlike in that paper, we do not formally specify that the hairs lie in the Julia set.
A subset of is a Cantor bouquet if it is ambiently homeomorphic to a topological object known as a straight brush; see [AO93] for a precise definition. We say that is totally separated if for all , with , there exists a relatively open and closed set such that and .
We are now able to state the results.
Theorem A**.**
Let be the transcendental entire function defined in (1). Then the following all hold.
- (a)
* has uncountably many components, each of which is a Devaney hair.* 2. (b)
* is a Cantor bouquet.* 3. (c)
*Write for the set of endpoints of the Devaney hairs in . Then is totally separated, but is connected. *
Remarks**.**
Part (a) seems to be a combination of results from [DT86], [Kar99] and [Rem06]. Part (b) is a result of [AO93]; although the term “Cantor bouquet” had been used previously, this was the first paper to give a precise topological definition of such an object. Part (c) is from [May90]; this result can also be stated that is an explosion point for the set . Note that many of the authors cited above considered, in fact, the transcendental entire functions , for . The functions and have the same dynamics, as they are conjugate via the map .
Our goal in this paper is to show that there is a large class of continuous functions that are analogous to the map and also have the dynamical properties listed above. This shows that, in some sense, the properties listed in Theorem A derive from elementary function theoretic properties of rather than its analyticity. We stress that the functions in our class are continuous but not necessarily quasiregular.
To define our maps, we observe that if , then . So we begin by considering a map
[TABLE]
where and are continuous functions defined in such a way that has behaviour analogous to the real exponential function, and has behaviour analogous to the map .
We first specify the map . Let be a simple curve from to with the following two properties; see Figure 1. Firstly, we have that
[TABLE]
Secondly, for each , the curve contains exactly one point of argument . We then let be a biLipschitz map, such that . Finally we extend to a map from to as follows; if , and is such that , for some , then
[TABLE]
It is also useful to define , for real valued functions and . Note also that it follows from the above that there exists such that
[TABLE]
Next we specify the function . We let be such that the following conditions both hold.
- (A)
The function is strictly increasing, and as . 2. (B)
The derivative is defined almost everywhere, and is monotonically non-decreasing where it is defined.
Note that it follows that, where defined, tends to [math] as tends to . Note also that the positive, real, convex functions with as is a large class of functions which satisfy properties (A) and (B).
We need to grow sufficiently quickly. In particular, we suppose that there exists such that,
[TABLE]
We then define the map mentioned earlier by
[TABLE]
Note that when , the function in (4) is quasiregular, and is known as a Zorich map. If, in addition, , then we have .
Finally we define the function we are going to iterate. We let and set
[TABLE]
We will later ensure that is sufficiently large for various conditions to hold. We then make the following definition.
Definition 1.1**.**
Suppose that is as defined in (5), where is as defined in (4) for functions that satisfy all the conditions listed earlier. Then we say that is a generalised exponential.
Although not necessarily quasiregular, is continuous, open, discrete, and differentiable almost everywhere. Note also that it follows from these definitions that any local inverse of is also continuous and differentiable almost everywhere. The name for the generalised exponentials can be further justified by equation (7), given in Section 2, which shows, in particular, that no polynomial can satisfy condition (3).
For a generalised exponential, , there is no obvious definition of a Julia set; although the Julia set can be defined for quasiregular maps [BN14], we do not want to assume that is even quasiregular. The following result allows us, nonetheless, to establish a set analogous to the Julia set. Here we define
[TABLE]
Theorem 1.2**.**
Suppose that is a generalised exponential. Then, there exist and such that whenever is sufficiently large, has a unique attracting fixed point , , and all points of tend to under iteration.
We can now use Theorem 1.2 to make the following natural definition.
Definition 1.3**.**
If the conditions of Theorem 1.2 hold, then we let denote the set of points that iterate to the unique attracting fixed point, and set .
Our main result is then an extension of Theorem A to the class of generalised exponentials.
Theorem 1.4**.**
Suppose that is a generalised exponential. Then, for all sufficiently large values of , the following all hold.
- (a)
* has uncountably many components, each of which is a Devaney hair.* 2. (b)
* is a Cantor bouquet.* 3. (c)
If is the set of endpoints of the Devaney hairs in , then is totally separated, but is connected.
Note that the fact that has uncountably many components is also a consequence of (b). However, it seems worth emphasising this fact.
Structure
The structure of the paper is as follows. First in Section 2 we prove Theorem 1.2. The proof of Theorem 1.4 is then spread across the rest of the paper.
2. Existence of the sets F and J
In this section we give the proof of Theorem 1.2, and so establish the existence of the sets and from Definition 1.3. Firstly, we need a form of expansion for , which is given in the following lemma.
Lemma 2.1**.**
There exist constants and such that
[TABLE]
Proof.
Let be the constant from (3). We claim first that there exist and such that
[TABLE]
To prove this claim, choose sufficiently large that (3) holds for . Set
[TABLE]
It is easy to see that this maximum exists and is positive. Now, suppose that . Set , where and is a non-negative integer. Then, by repeated application of (3), and by the definition of ,
[TABLE]
This equation completes the proof of our first claim.
We also require a growth condition on . We claim that there exists such that
[TABLE]
To prove this claim, note that since is monotonically non-decreasing where defined, we have that for sufficiently large values of ,
[TABLE]
Combining this with
[TABLE]
we obtain the result.
For the derivative of we have, whenever it exists, that
[TABLE]
The fact that is biLipschitz yields that exists almost everywhere. Since , where the derivative exists we obtain
[TABLE]
for a suitable constant , which depends only on the Lipschitz constant of ; see [Ber10, Section 2]. Since the result then follows from (7) and (8). ∎
Proof of Theorem 1.2.
Let be the constant from Lemma 2.1. Since is biLipschitz, there exists a constant such that
[TABLE]
Since and (where defined) both tend to [math] as tend to , we can choose sufficiently small that
[TABLE]
We deduce that
[TABLE]
Since it follows that
[TABLE]
Now choose
[TABLE]
(Note that the choice of here is stronger than is required in this proof, but convenient for use in later results).
If , then
[TABLE]
In other words, . Hence is a contraction mapping on , and so contains a unique attracting fixed point by the Banach fixed point theorem. Since is expanding in the complement of , by Lemma 2.1, the uniqueness of is immediate. ∎
In the remainder of the paper we will assume that are as defined above, that is a generalised exponential, and that has been chosen such that (9) holds.
3. Symbolic dynamics
In this section we define tracts and external addresses, and then use these to establish symbolic dynamics on . We begin by defining the tracts of the function . Since , we have that , and so points with imaginary part in an interval , for some , necessarily lie in .
Definition 3.1**.**
For each , define the tract by
[TABLE]
Also set
[TABLE]
Clearly is the image of any tract. Geometrically is the right half-plane with a bounded set removed; in particular
[TABLE]
We stress that the sets are not tracts in the sense usually defined for functions in the class . However, if are both tracts, then it follows by (9) that ; abusing slightly the terminology of class maps, is of disjoint type.
Note also that if is a tract, then is a continuous bijection, and in fact the same is true for . (This follows from the definitions of and ; in fact is a bijection on a set slightly larger than .) It follows that is a homeomorphism. We denote the inverse of this restriction by .
More generally, if is a finite sequence of integers, then we define .
Next we consider the components of and define the notion of external addresses.
Proposition 3.2**.**
Every component of is unbounded.
Proof.
Note that if is connected and unbounded, and , then is connected and unbounded; connectedness follows from continuity, and unboundedness is a consequence of the fact that is a homeomorphism of the closure of each tract.
For each , consider the set
[TABLE]
Then, considered as a subset of the Riemann sphere, is connected, by the above remark, and compact; in other words, is a continuum. It follows that
[TABLE]
is a nested intersection of continua, and so is itself a continuum. The result then follows by the “Boundary bumping theorem”; see, for example, [Nad92, Theorem 5.6]. ∎
We write .
Definition 3.3**.**
Observe that if and only if there is an external address such that , for . We write . We also write for the set of points with external address . Finally we let denote the closure of in . If is an external address such that , then we say that is admissible.
The conclusions of the following observation are straightforward, and the proof is omitted. Here is the Bernoulli shift map defined by .
Observation 3.4**.**
Suppose that and are admissible external addresses, with . Then all the following hold.
- (1)
. 2. (2)
* and are disjoint.* 3. (3)
If , then .
Our next step is to characterise the admissible external addresses.
Definition 3.5**.**
We say that an external address is -bounded if there exists such that
[TABLE]
Note that the constant in (11) can, in fact, be replaced by any positive constant; indeed, this comment also applies to the choice of the constant in the definition of admissible external addresses in [DK84]. We have used here for consistency.
We show that the admissible external addresses are identically the external addresses that are -bounded, provided that satisfies (3).
Theorem 3.6**.**
Suppose that (3) holds, and that . Then is admissible if and only if is -bounded.
Proof.
First, suppose that is admissible, and so there exists a point with external address . Note that
[TABLE]
and indeed
[TABLE]
Observe that it follows from (3) that there exists such that
[TABLE]
Hence, for ,
[TABLE]
and so is indeed -bounded.
In the other direction, suppose that is -bounded. Fix small enough that
[TABLE]
Let . It can be deduced from (3) and (11) that there exists such that
[TABLE]
Choose sufficiently small that
[TABLE]
and choose
[TABLE]
Increasing , if necessary, we can also assume that all points of real part at least lie in . We then set , for .
For each , let be the closed square of side , with sides parallel to the axes, and with bottom left vertex at the point .
We claim that , for . To prove the claim, first fix . Note that, by a calculation, contains the annulus
[TABLE]
Since , we can see that does not lie inside the inner radius of . Hence it remains to prove that does not lie outside the outer radius of this annulus. Without loss of generality we can assume that is non-negative. A furthermost point of from is the point . Hence the square of the distance from to any point of is at most
[TABLE]
where we have used (12), together with the choices of and . Since the outer radius of is , this completes the proof of the claim.
It follows by, for example, [RS11, Lemma 1], that there is point such that , for . Since maps to the complement of , we in fact have that , for . In other words, , which completes the proof. ∎
4. Devaney Hairs
Our goal in this section is to show that each component of is a Devaney hair. Part (a) of Theorem 1.4 follows, since there are uncountably many -bounded, and hence admissible, external addresses. Note that this requires that we establish the three properties (I), (II) and (III).
We first show that our function satisfies a uniform head-start condition; this terminology is from [RRRS11]. This is a key ingredient in the arguments we use in the remainder of this paper. We require the following expansion estimate, which follows from (6); recall that .
Proposition 4.1**.**
Suppose that is a generalised exponential function, that , and that is a component of . Then
[TABLE]
Proof.
Let be the inverse to . Since is convex, it follows by (6) that, if , then
[TABLE]
where denotes the line segment from to . The result follows. ∎
We now prove that satisfies a uniform head-start condition.
Lemma 4.2**.**
Suppose that is generalised exponential function. Then there exists with the following properties.
- (i)
Suppose that are tracts. If and , then
[TABLE] 2. (ii)
Suppose that have the same external address. Then there exist and such that
[TABLE]
Proof.
Note first that
[TABLE]
and
[TABLE]
First we prove (i). Suppose that are two tracts, that , and that . Suppose that , that , and finally that . Then, by (3) and (14),
[TABLE]
We then consider two possibilities. Suppose first that , so that, by (13), . Then
[TABLE]
On the other hand, if , then
[TABLE]
Since Re , the conclusion (i) follows provided that , and hence , is chosen sufficiently large. (Note that the choice of can be made independently of and .)
For (ii), suppose that have the same external address. Fix . Since and have the same external address, there exists a component of , containing both and , that maps injectively to . It follows by Proposition 4.1 that . The result then follows by (i), since and lie in the same tract, and was arbitrary. ∎
Next we use the uniform head-start condition to prove the existence of unbounded simple curves in ; in other words, we prove that consists of simple curves that satisfy (I) and (II). We defer the proof of (III) until a little later.
Next we introduce a so-called speed ordering. For each we say that if there exists with the property that , where is the constant from Lemma 4.2. We extend this order to the closure of in , which we denote by , by the convention that for all . We then have the following.
Lemma 4.3**.**
Suppose that is a generalised exponential function, and that is an admissible external address. Then is a totally ordered space, and has a unique unbounded component, which is a simple closed arc to infinity.
Proof.
The fact that is a totally ordered space is a straightforward consequence of Lemma 4.2.
We then claim that each component of is homeomorphic to a compact interval, which may be degenerate. The proof of this fact is exactly as in the proof of [RRRS11, Proposition 4.4(a)]; it is first shown that the identity map from to is continuous, and the result then follows from a well-known characterisation of an arc. We omit the details.
Now, since is admissible, we know that . We also know, by Proposition 3.2, that each component of is unbounded. Uniqueness then follows from the fact that is the maximal element of . ∎
Note that (I) and (II) and are now an immediate consequence of Lemma 4.3, together with Observation 3.4. It remains to show that the uniform escape property (III) holds on the components of . In fact, this is a consequence of Lemma 4.3, together with the following.
Lemma 4.4**.**
Suppose that is a generalised exponential function. If have the same external address, then
[TABLE]
Proof.
We omit the proof of this lemma, which is essentially the same as the proof of [RRRS11, Lemma 3.2], using Proposition 4.1 to give expansion. ∎
5. Cantor bouquets
In this section we show that is Cantor bouquet; in other words, we prove part (b) of Theorem 1.4. It was observed in [ARG17] that the result of [May90] holds for all Cantor bouquets. Hence part (c) of Theorem 1.4 is a direct consequence of this. Note that the arguments in this section are essentially topological, and very similar to those of [BJR12]. Accordingly we give only brief details, and refer to that paper for more detailed explanations and definitions.
In fact, we shall construct a so-called one-sided hairy arc. This is a topological object defined as follows (see also [AO93] and [BJR12]).
Definition 5.1**.**
A one-sided hairy arc is a continuum containing an arc (called the base of ), and a total order on , such that:
- (1)
The closure of every connected component of is an arc, with exactly one endpoint in . In particular, for each , there exists a unique arc such that , for , and . In this case, we say that belongs to the hair attached at . 2. (2)
All the hairs are attached at the same side of the base. 3. (3)
Distinct components of have disjoint closures, and is dense in . 4. (4)
If and is a sequence of points converging to , then in the Hausdorff metric. 5. (5)
If and belongs to the hair attached at , then there exist sequences , attached respectively at points , such that and as .
It is known that if is a one-sided hairy arc, then is homeomorphic to a topological object known as a straight brush; we omit the definition, which can be found at [AO93]. Our goal is to construct a suitable base so that is a one-sided hairy arc. Since a Cantor bouquet is, by definition, a set ambiently homeomorphic to a straight brush, the result follows.
We follow the construction in [BJR12, Section 5], although our construction is slightly easier since (up to translation we only have one tract. We define to be the union of;
- •
the set of all external addresses;
- •
the set of all so-called “intermediate external addresses” obtained by adding an intermediate entry between any pair of integers;
- •
the set .
We then let ; recall that is the image of the tracts, defined in (10). Exactly as in [BJR12, Section 5] we can define a topology on by specifying a neighbourhood base for every . It then follows from [BJR12, Proposition 5.6], that is homeomorphic to the closed unit disc, and is homeomorphic to an arc.
First, we show that the set of admissible external addresses (see Definition 3.3) is dense in the set of all external addresses.
Proposition 5.2**.**
The set of admissible external addresses is dense in .
Proof.
We know from Theorem 3.6 that -bounded external addresses are admissible. Hence, since periodic external addresses are certainly -bounded, we deduce that periodic external addresses are admissible. The result follows since periodic external addresses are dense in . ∎
Let denote the closure of in the space . Our goal is to show that is a one-sided hairy arc. To achieve this we need some results which together imply that properties (1)-(5) from Definition 5.1 hold.
Proposition 5.3**.**
The set is a continuum with . Moreover, the closure of every component of is an arc, with exactly one endpoint in , distinct components of have disjoint closures in , and is dense in .
We know that is an arc. Note that this proposition gives properties (1) and (3). Moreover, is one-sided by construction, hence property (2) is satisfied.
Proof of Proposition 5.3.
Recall from Lemma 4.3 that each component of is a simple closed arc to infinity, , for some external address . Suppose that is an admissible external address. We can deduce from the topology on that points of cannot accumulate on any element of apart from . Hence is a compact subset of . Moreover, is connected.
It follows from Proposition 5.2 that . Hence is the disjoint union
[TABLE]
where the union is taken over the admissible external addresses.
is homeomorphic to an arc, and so connected. Also, is a compact metric space, and hence so is . The claims of the proposition follow from these facts, together with (15). ∎
In order to prove the accumulation of hairs, i.e., property (5), we use the following result.
Proposition 5.4**.**
Suppose that . Then there are sequences , with , for , and , as .
Proof.
Choose . Let be the component of containing , and let be the inverse to . Define a pair of points , so that, by definition, we have , for . It follows by Proposition 4.1 that as , as required. ∎
The following proposition is analogous to [BJR12, Proposition 6.1] and we omit the proof.
Proposition 5.5**.**
Suppose that converges to a point , and that, for each , has the same external address as and satisfies in the speed ordering of . If is an accumulation point of the sequence , then .
We use Proposition 5.5 as a tool to prove property (4), as shown below.
Proposition 5.6**.**
If and is a sequence of points converging to , then in the Hausdorff metric.
Proof.
Passing to a subsequence, we may assume that converges in the Hausdorff metric to a limit . Then where . Note that is connected as the Hausdorff limit of compact connected subsets of the compact space , and also it contains both and . Hence we have that It remains to show that . Note that this inclusion follows from Proposition 5.5. ∎
We have shown that is a one-sided hairy arc. Hence, for the reasons noted earlier, is a Cantor bouquet, which completes the proof of Theorem 1.4.
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