Yule) 24 eben), here, fr + € TM, te el va (2) eterna by he reiemest| u(2) eM. Prove that grt V3.3, wi th ape re the ole oft), sasymmeviemebod. “He Since sa inst embiaain of and (tinge eerie pate otek ae a ble) ‘aan, Hage & Monte Ke 2001. Yeifyramedly that the Lie group Ineo (12) sed on eli pin le does A conerve gener ‘gata rt gas, One xn conser te ip bd ation inthe form avis, Chapter VI. Symplectic Integration of Hamilto Systems "HES Feu forromon race, can ore leon 9 anon ‘Haman sytem fer the moet ingore ls of ei eens eats ‘los i te cones of "Seomete Numeral Integrin” An xeanngpopety ‘these systems the ple of the om Ar ene nt llowing da ‘snaton eel ign — dic a \ “Variational Frincsples 3% onder Partial DE mes <__-Ganung Foctons agree, ‘aminaco) ‘anitonin tery aprtesin he erent dss eqetons of mation pariat sleet eqns nd varaona ice) wich real imteconneted Ech ‘these iewpomts whch we wil sy onesie the ther ads he cnsraion ‘St methods preserving fe mpi.VII Hamiltonian Systems Hamitn’s equations appeared fest among houses of ter Fras, sd ie- ‘pied by previous nop fn Ham (138) Theirimgorane w= ‘met engi Jc who sessed and extend finer ea So ha coop of yet later al he og history of rach of Cll, Nevin. Euler an Lange ws Inthe words of Jacob (BAD, be consdeed a ak {nrodecoas The nex ile sons ae npn ot cry were th ene ‘esta es voles of ocr (192,193,169) on eesti mechan See's “Lecures on Ceesal Mechs” (1956), English ealuged eon by Siegel & Mose (17D nd the inten bok of VI. Aro (199; at Resin eon 1974), Beyond tat, Harionan stn became fnanetal nary benches pis. One uae, the diy of ice celery mates i lonsacson of ie ist symp inerator (Ruth 198). VELA Lagrange’s Equations ao tren pot aslo eu I ries de Dy sage GE Tapamee 705 ‘The problen of compting the éyeamis of ger rechaniea!syena beg wi Gales pubtsted 1638) ana Newton's Prin. Ela 167). Theater alowed veo exe the moveent of fe mas pon hes 5 post bing teh planes es Mar op) 1 te slaw of eileretal equation (xe Sect12). Bathe movement of mare com ented stm such pel bles ob e Fes aac ech aber ros igs, tere the abet fone ea evel” pment, ot Lagrange (F760 1788) found elegant way of teat sch problems in fer ‘Wesupyse that te postion of amechan iclsjiem ith depres of edom i de-—Jueh-Lgls Lagrang!| feted y= (aie td" sgencrlaed rvs agra ‘coat (as on beer example Cartesian comin angles. ents long eure), The eoy then bk open op, amely ab expen TT) on hich represen the Hinctc energy (an which se o he form 447 (08 ‘er AVG) syameuie and pale dete), nd by tion "sons ange. a: 2 any 176i Ti Sein Fat ow Seca aye ieee 4@)-%, «a ‘hich consis the Lagrange euaton fn system. A numeral or nia) Iegraton ofthese eqatons allows one fo pre the mon olay sich sem ‘fm gven ni vloes (Ce sont ces equations i servont dzrmineaeube eet parlcos A 2a vest cage instant Lagrange 170.269) ‘Example Fer 2 mas pol of us a B® wid Cason corns = — (nese we Fa) (e+ 2 Meson hp or. in comeraiveferce fld (=) = VU). Ten the Lagan ators), ‘ecome mit = F(a), whichis Newton's second nw, The eqs (12.2) 0 te lnetary mon se preisly fh orm, rample 12 (Pendulum). orth mathemati endl of Se 1.1 we take the sages coorinne. Thine ai pentl energies re indy T= me Y= mdi ana = mgy » mgt cosa respectively. ote Lagrange ‘quan became “mptsine ma = Voreguvsey ¢ $n th 142 Hans Cn Eqatins ioe ceeee nas Steere ‘knife: des Bish ls Eeune dazu snceeben ae sei pl a ar ee overt a, “emit er ee re ee foe be tcc as Has) La) 0 function ofp ad i aking Hf = Hp.) bined by egessing 8 fonction of pan via). ere, cour, rosie th (5) defines freer , 2 continuo ier ‘abl ijction jp. This map eld he Legendre oor“Theorem 13, Leprnge’s qeaon (14) are equivalent’ equation 2H, aH, ‘ 1 Foes a= Fatah a) Prof Tents (15) a (1.9 forte moment pad for tbe Hani ingly at ‘The Lagrange equations (1.4) tear equivalent (1, cy (Cae of Quadrant ete tut T= 447(9) quadratic were Ma) ‘5 symmeric and pote defe mai weave fr 3 ted g, 9 ~ M(Q} 30 thatthe erseaceo he Legendre vaso sestablided. Friet Py reps ‘eae ty Ag)" a edetnon (1.6) 0 (9.4) we otis (9,9) = FF M(Q*9— L(a.A09) Persp Mar'y+Ul9 = Semler v9 este sunning etc aa a hipearteneeert arta cinieene toe fatowing ve consider Hapltosin yen (17) whee he Hatolan 9,2) ‘stn ds not ocala wa mec poten, ‘VL2 Symplectic Transformations “Teme “ope jg forme bec by asin ae pines The Wats em earn eg wee pat eple hope Gna upcresgmcie™ re ‘von dn 168) ‘fs pop of Hainan systems aed seza a Example 1:2 of Sect V1, ‘Sth aionian f(y) fro neal te ster (1.7). oti section ‘weal ty sneer porate =e smplciciyo s Bow. The basic ‘hjet tobe tid ae two-dimensional puclopams yng a". Wesppose Abe paralloepran abe spanned by vo ves GE). () inthe (va eae (EF, nf are in 08 ig+en|ostsi0s we conde he ore aren wera = en (oe et plo i. 21. nnn mensions, weeps a By es ofthe reed eas of he prjcions of Pont th cert plane (9g) Le San (% %) = Ee(s en ier ap eg on wet of, hw pec [tanto pico acon nena hee veneer vin 7-( 2) am arte My mai of meson Della 21, i ping 4:8 Rl mpl sad xy a A= ora 96 eae Fg 21. Syl ns penn) fa ap. 6.0) en he case d~ 1 where te expression 1 represents he ao be pa etm P,sympleccy oner mapping Ais herefre the area preseraion fA ee Fig 2), Ln Be gene ease (2> 1, sympleciay means that he sm ‘thorn sree ofthe poacton of Pont) he same ht for te {rroeepasilograms A) "We now tr ou tenon oa mapigs. Diferentable fnetions can ‘se toclppoumated by lnear upping. Ts astes the lowing detntion, Definkion22. A diereaiabe mop 9 :U +R (where U CR isan open st) [neal pple ihe Ioaban mate (0 everyhere sympa Li SOAFIIOO =I o wlaGale.slo.0n) =0f6.. Let ives sromerc inert of symplectic fr eotinetr mappings consider -ienieal ab-manold Mo te 2dcimeniona et dp se tht is given asthe image AP = GA) oF compet ot RE, where(01) conidial ftion. Te manifold can then be com Sled te indo in of mal paalelogams spanned bythe vest ar) a For ae sch pully we conse (at above) the sm over te vet eas oft pojetns ono te (py) ln. We then sum over parlors of be ‘muni ne hs ges he expression ran [a(n tena en ‘The trforatin onal for dbl neal hat (4) inp fe paren yo Lemma 23 ifthe mapping 9 :U + iret om, ten preserve the sxpresion 2), Le aan) = 2100) ole for a2 imesonl manifolds M hat cn be represented a theme of 2 comma diferente cto ten tn py 909 Yee staan ff. o(2% a0, 28280) ween, team (90 Y(t) = (0.0) (6 and easy tation. © Ford = 1, Mis aheay aboot of Band we conse = wih sen api a ane, 8) = fy dot repent aa Hee, emma 2st tl ype ag i etn on) aes pr sere. "ME sow sito porte mane of eon, We we oon = tant woe Halon ten (te svi), es ‘where J isthe matrix of (2.3) and VH(y) = H'(y)". eal hath ow Us of Haman ye th mpg tat drach slion yin vl 0) = le. aer9). see Hepwel atm.) tbe lon etm crepe al les Azra =e There 24 ana 199, (pb ce cont ferene octon nid GR Then foros the op asymp forma fone defor ‘The deve Bpy/0 (th w= (nf) son of Be va ‘Set eon ye Noman Qu (25, fate om 8 FTe2H evi) Boot UH (meen eit HO) He) 2 fe re (GR) (65) = GB)" G2) +B)" G2) = ($8) a enon a-7s (222) + 22)" moo (32 Ore canse JF = —Jand JT = =, Since the relation ‘sss fort = 0 (pm th ident map, i sid for alt ane al (0.0). 2 nga the soliton remains in the ead 3 “Example 2 We lls shi theorem with he end proiem (Example 1.2) ‘ing the normalization m = =p =I, Whore = a. dan the Ham an given by Hp.) =P ~ cosa. ig. 22 shows eve cures ofthis fection, bit lo ilsies he aea pes: tation of te Now y.Ided by There 3:4 and Lament areas of Ao {4(A) a well a those Of and) ae there, aie appearnce Spl tere, We next show tht sympleccy ofthe flow i a charceitc propery for onan sym. We call aieeatal equation = f(y) loely Homie an for every py € U the exists a eghtoubond whee Jy) =)" PIs) forse fenton ‘Theorem 26. Let J: U ~+ R be commun difereniahe, Then j~ fly) is {ety Hamioion Yor ont floc) empecforlly €U andorProf The ces flions rom Tene 24. We efor assune tht the Bow ‘rie symploti and weve prove he lol existe of fneuon iy) sch {at Jy) = J*VH(a),Ditleeiaing (2.6 a using he fac ta 3/0 ‘ol ofthe vation guston# = '(oyn))¥- 8 oa (BYR) = GE) (rontooy" s+ s0 com) (38 Pasting = 0 i fows fam J = —JF dat JY") i symemetie ma for Sit yp The inaprabiity Lema 27 below sows that J7() con be wien 2 the ‘eaten of anton 1). a The folowing esi contin forte exisece of poet ns lead town 0 Euler and Lange (ee Esler Opera Oman, vo 9-23, et Lagrange (1760). .375) ‘Lemna 2.7 (ntgrebilty Lemma. 2t D.C R* be open and J : DRY be ‘nual diferenble aed ste that he Jocobion J) yn forall ye D. Then forever yo € D thers oneihhoureod and fnaon (3) ch thet f0)= 949) en oth neightourond. nether wor the diferent! for fly, + Fels\die = tl ital ferent. tn consider ball sound y which i consid in D. On a Prof Assume ‘rl we deine so) [19a ot Dieenaon wih gst 0 a thd wing he symmetry asco 2 fel Oy, es Bilan [(nenr-ev7 Leone = [Een 4-100, veka me, ° For D = R™ ofr str shaped elas D, he sot rot sows ht te fine ‘ion Hf of Lemna’ plaaly defied Heae be Harlonian of Theorem 26 ‘so ghbly defined inthis ie. Tis oman vai for simply comet ets D-Actunereximps hich shows tat the exence of lta Hanonan ‘eorem 26 otro ener Dive in Exec 7 "An import propery of syle Casfrations, wich oes taco act (046, "Theorem Xs that they ese We Haman charset ier tal equation, Sach ttsfrmatons hove been eed connica sn te 9, oy The ex teen shows ht catia and rmplacs transformations re evame, ‘Theorem 28. Ly: U ~+ V be a change of eooriaes ch that and &- areconinuusy diferenibl fonctions I symplece he Hamltonan sem J'OHy) beens ithe new varies += 6) 'vK(2) with K(e) =U) an Convers ramon very Hamann tm anther Hanon temvia (2.5 hen te aymplec Proof Since # = Wu and) VEC) = Day) becomes (s)he Hanon system, avON VU)" TKE) 2 ‘nthe ne vals es equialen 6 2. if wo = 210) Maliplyng his elation from test by 4/9)" ad from the by 93)" nd he aking ts ines yells J = 9g) FF9/(y) which shows tht 210i lento we symplectic of Fore ives rein We that 2.9) is Hanon for all) i and ony 20) hols, 0 VL3 First Examples of Symplectic Integrators Since symplectic is a tances prop. ny of Hania systems There 2.9, {Cis anual wo serch for numeral mebods thats tis propery. Poneing work on ‘mpl ington I deo de Vogel (1986), ats (196), sd ene Kang (1985). Paietoomietacocaey pn ‘nyo eco Example 32, We conser the pend problem of Eiample 2 wane sae al ‘esas in Fig 22 We apply sx ile ne eng Kang? Euler metiod (LS), he sympa Ener metod (1.9), and the lic ler, Tieng. to 9 Septet 1520 Nang (hn. 17 Aap 9 ig: ire ied rs gS wh ap ol Tg.Fe 3, Ace peso of mame mos for peo: ane ilo ‘BEI ner uo (con = cond rer mods ng coe method (1.6, swell ast second order method of Runge (1.3) he rightore, ihe Steere cbr (3.0), an he pci ip sl L17). Fe two ‘eto aus (fy) we compte several ses wih eps = 3/4 Tar the it odes mao and h'= +/5 forthe second oe melo. One ey ‘tse in Fie. that le exp Ele the mpi alr ad he eae oder Split meta of Rage ee nt sped (ot wes resrig) We stl prove ‘lower mead ae ample tere reat of tiem (ering generating fcson) wll given Set VUS ‘Theorem 33, The socalled symplectic Euler method an 2H, mss PAE Pveital Gast FM COarita) ld Ia sympletc mead of oder Proof Dierentitiono 21 with espe (pa) ede ~ (CME 9) gs) (tl) where the mates Hap Hp atl esvaives areal raatedt (1,40. This elton alows wo compute SEs an tp check in a staihforwand vy the splay condone)” (Meese ° ‘Thesame oa shows tt ean neti 0. Patt Fa NG Am tits toes et NE Irateus) 2) fesse “heer 34, The inp mids ae oot Sa $AI-AVH ves + 00/2) os ssa spmplecicwethod of oder Prof Diteretaion a (3 yikte (fren (e) Again its straightforward to verity that (29222) (24322) = J. Due volts sym- ‘ate ipa nie tanmobe ate oe hewenlt 1+bo- ton) ‘Theorem 3, The Sime scheme (L3.6)i¢@smpletc metodo onder 2 Proof. This sm immedi consequence othe fa iat he Steet scene 1s the composion ofthe ype Esler method with isan (et. Exam le IL43) Orde fallow fom i symone. a ‘The next vo teers a 8 coseguence fhe ft ta the composon of symplectic tarforeatons is gain syle. They ae alo sed to prove the xine of symplectic methods of leary high order ano expan why the theory composon mth of Caper I aI so important or oom inept, “Treoren 3.6 Lat Oy dot the symplectic Ener mth (2.1), Ther the compe sition method (145) symplecifor every cole of the pranaters 8 i sap ad mri (eh li pe te ‘Theorem 37. dsm hase Hamlonion ion by Hy) ~ Hy) + Hl and conser ho pliting B= J VHG) =F-*VEN GN) HIT H, ‘Testing mood (15.8) then spect oV1.4 Symplectic Runge-Kutta Methods “The yee dy of symplestiRonge Kits meta sane rund 198, ad * ple cn sen npn yap (98) ig {he epoch of generating fucons) end by SneSera (985) and Sui 1988) (Geng he ida fhe lal agers of Barge Date (1979) ad Coe, (0979 on algebra sbiy. EAA Criterion of Symplectiity ‘Wefoow esos of Bacher & Seat 1998), whieh is basedenthe following porate. Lemma 4, for Runge kita method and for parttioned Range-Kuta methods te flowing dara comms" = fle), vl oS fy). v0 = fla), we oor et nto peta (™ = (oa080) (honcons crows meanadifreniaion wih respect oy). Therefor the mamer (Crea, Boban fom apply the method tthe pole augmented tr anata ution egal the ramet soon for» J) augmented pls dermatve Pa = Oy fOr Prof Te ress proved by inp ieeatinon, Let sate hi or the cerpct Euler Dest Be tS) Wecomider ayn afenconrf and we ile wih pet 19 "he equation Sfisig te sumer mead Forte Euler method tis ives Bins Oe 4 5 p(y Piatt AO) ‘rhc exact hereon that we fom plying th math tothe variations uit Since Dp /y Te we ba yO py~ oral. 2 “Te main seston no eth te empty codon (2.6) a guste ‘hs letra te vavaona eget: we we he Harionan ssa ogee ‘vhs aioe enon | 9H), oH an Yetows rom (tp I94 eT I HIN) =0 (ex a the rot of These 24) at #7 i gute at tpl he “tft ee imge Kat meted tt ptr qc it ier, seria rena lnc teeta ‘vom 42. The Ga collocation method of Se 13 are mpc. 0 Toeorem 43. Ihe oie oft Range Kana math iy ray + ay 8, fora. . a then is smplecle ° ‘Sint te sason a Taare V2.4 agpoly iplic sympleti Range ‘Ka mete re componiton metods. ‘Tere 4 Adagoaly impli RungeKure meted sain the pectic nyeonditon (4.2 ond Oi ean tte compeson where san forthe mpi pon rae Prof ori = jcontion (4.2) gives = bi/2 and ogee with ay, = 0 or £5 pu bpbes a, = by Tis poses he stent o The assumption “hy #0” snot este i Sense that or agonal i plist Range Kea methods sstfyng (42) te itera ages comapoading By =O" donot fence the uel eau and an be emoved. ‘To understand the symplectic of parioned Ronge-Kuta meats, we write (6) toned pao wi vale (7.97) oad (q,07), Brey congo wre = nF —cener sof te fom (IV, 0 at Theorem 1V:23 and Teor 1V.24 yeh ie fl owing esas ‘Theorem 45. The Lobato A IB pir isa symplectic method °“hormone ofoprned Range Ha metho 22). KB forte dont 9) ‘or « "Ya Baan of fre Hip) = Tp) + lg a spl seinen ea pete eae ee sen Sex 22a inte of pone Roget seinalspece a epek qr neds ir epeiesaen§ = Tie wey haar nob ere ee Horo fons vE mtd wt me Se ah comping tot coed Sc To a ee red Oar Slam Tem Gs pte Rig te edt re te stinatisiaogig = tft» pammme y> endeplyoe put Hono se wah Hie) = 7) +010) {SAS An as etme et oe om eng Sct Ptah ch mae ole «compton of mpi ae oe Pr We it oe ut tags ms = J) Cr wt b= 0a (Tort wn = 0 arses tre he rte ten ee Teer niyo won eh bi pty oe betaine ee a ak ryt bier ctf eed mas eaters ror chaning ao oe tae ha Kite (cgi = Orval They cnn imi — Ge ec Weta eS ame yt pel Ses dc tee kgs) oo eon cote you asmpon repo Ota Ofct > onan = yet 3 ‘Canaing corte wes tht be method becomes ovfhovth out ovtlh. ‘where gf! and yf! are the exact flows corresponding to the Hamiltonians Tp) and Tiere . Thenceniy of hecain f Tren 43 nd heen sei peter Rg Ranson ot a cea sare "A std kr ii eu j= of) agrees by van qi ono i peta em, eet he anf Lenn set tN eos Tenet eo rank Seay tind by Sri (1988, 188) ‘Theorem 48, Ifthe compet of Nyeram method V2.1) ay Bow Wa) joré=t, WA, —04) = O~ en) forty ‘VI42 Connection Between Symplectic and Symmetric Methods ‘Tee ext symmetric metho th eat symplectic nd thee ent symplectic. nth the nt sym For exp, th rape! rae n-ne 8(s00 +700) « 'ssymmee at it does at ty the cordon (42) for spect, fat this ste ofall Labo IIA methods ce Example I.22), On thee boy canporiton Sy 0 yu yy ~ 1) a symptoms peptic Bat Symmecie ali, = ower (n-ptone) Range Kuta methods and for quai: i ‘enans Ht) ~ ly (C ise symmecie el mais), where the conesponding system (25) nae, parton, an ve shale tht both concep ecole ‘A Range Kuta mato, splied wk sep ie ho nea sytem = Lysis eeoiaente n= ROD, 6s wher the ronal fintion Rs) gen by Re) +37 eay ta as A (ay) AP = Ub ba) and P= (0.1) The fenton) i called be sbi nti ft etd, sa ie amit om the say of it Arena eaotons see. Hae Weer (1996). Chap. 1. Forth expt Euler method, he npc Euler meted nd the mpi mide ine he ability Function Fi) sien by ‘Theorem 49. For Range Kate method the elongate ar egies + the meted s syne for inear probes 9 = Ly ‘he method is smplefor poems (47 wh symmetricC; 4 the sabi fnron sos R=2)R(2) = forall comple.‘Prof Te met 9 = IML) i yee ad only ify = AH ni rll vas. Dt his egal to “hZ) RL) Scop) = R(AL) symplecesy a he te ore robin 47s de oe by RI POORER) = For Res} = PC=Y/Q(2) eas eget PustoFsPas'e)=Qins-1O)7IQNI*C). 10) Byte gmmey of Che i = JHC eis LT w= JL ce Bee (ENF Ie J(e0) fork 1,2 -Conseqenty. 2.10 semi 0 P(oIAOYPLAIIC) = Ql-BIIOVQINI*C), which enon te an R(-AJ-HC)R(AI~IC) = I ° ‘VIS Generating Funetions atte relist scath tn eros oe a ‘Seen Schemes htm ‘i Hanson 1) es Vion. mee Ret find npg te Benen er ete eon tes i We ener ere te second heen af Hamiltonian hry, the eal fpr Tern eons nd eran intone The strg pit of is hey Wa the dsconty of Hanlon et ceria “aceite ancton Fallows ono ‘sce the ovement of te cle enya tithe slo of pata Sire equation now ced th Hao cot diferent equation. "twas noticed ae expecaly by Siegel oe Siege Moser 1971 2), ht such fincton Sis daly conected tomy ymplete map. received te ae ‘seneratng fiction VISA Existence of Generating Functions ‘We sow conser ted Haiioni sytn and 2 ed tine intra ad desc bye col vets pg he nial vles py -ypesed ato Waestony. The al alr ty wn ae and @. Wes ave 8 MPN (Gua) (2) wich, we now, symplectic onan open set Taeorem SA. A mapping o = (.g) 4 (PQ) ke smpletc and ony tere ‘ital acto Up) at Pag Fag mas. op riemeane that PT AQ 9 dy ira diferent. Prof, We pit te acbian of gino te trl 22 Hock ma 20) (% 5) a Inseing his into (2.6) making ont shows ht the te condone FE, =F, F-1= GFP ERA FTO 62) ‘ze tqivaen symplectic, We sow set dQ = Qydp-+ Ql nthe et ‘nd ideo (1) and obtain (orem tras-r)()=(fé”,)'(&) Tap tpi Len 27, tee yey be En Sconce ce (fh SR) oH ase a Since the Hessians of Q, ae syne nyay ite imine lee ot the symmetry of be mai (53) equa o the spec codons (3). Reconstruction ofthe Symplctie Map fro 5. Up 10 now we have coset al fncons a epntag on pa . The ect enrol Ioce ne ernest (1 sggests ig == 6,0) tend oy = (0) Tra weet ll hangs feos) = 9(2)i pean be exes inert of {he coors (,), which pose byte mpc ncn theorem fi ‘merbl Abusing ou notion we i we (0) forthe eesorned fon '5(6(2)) The, y comparing hectic of tS = 2588 ay + 28 a ath. weave st Pe Baa, r--Bao. es 1 uasfomation (p,0)-+ (P,Q) symplectic, it an be reconstnctdfm the ela fantom Sta) bythe elon (4. By Theorem 3 the some tho uve: any spicy mouth and nondegenerate acon SQ) “peers ia (Sa symplectc mapping (pa) + (PQ) This ges ws 3 powell for ‘sexing symplectic meted, ‘Mappings Close to he Tent. We ae manly ieee in he station where the mapping (4) r> (PQ) sels ote ety. ns ease the eke (9) or (a)or((2+ 9/24(Q + 0)/) of independent rable re mae on {den he allowing chasterztons‘Lemna $2, Let (.4)-4 (P,Q) be aamoothranformation arte identi Inivmplctef and onl one ofthe flowing condition al loa + GaP yay =A(PT0+S!) forsomefincon Pa): 2 PP4Q-4¢7dp= aip"Q~ 58) forsomefncton 3p.) Qo dP y)—(P—nIPQ +9) = 245" forsome jection S((P + 9) /2(Q +912) Prof, Ung KPTQ) = PPAQ + QAP, te fet characterization with St = PIG —a)~ Sis cqunien 0 G1, For he sod chcteton we {p9) = Pg 4 a dp Te at on sows om te fc tat (5.1) oa temso(Q "aFaUP +7) (P~ FAQ 9) = ACP 49)Q~ a) ~ 28), “Te aenrtingfcsions S'S, and S ve en ehosen such hat we ote he Hatt napping hon hey ae ele with 2. Comping te cet {onto of and dP inte st caaterzton of Lorna 5.2, We cin 2 2S! 23 p “s par era ama S09) 69 ‘Water ir etn SP) i he on 5) dee a sym ‘nea (4) (20), Pa) = he Ph) we emp es fcc Be od 9) eal p te icy fs ‘Tented heater te sp fe ope se “he in hein of Lena 52a ten P= 9 055%(P + P1040) eal Q = at ASP +P)/2(2+9)/2), hie $= hi snng sr emp it al 7 ee ‘Caltuanien enews sana ete et ih ‘eye frcnd upon pce yum ce Senin comp orm Fayhs'9s(y +022), wre ¥ = (PQ) ¥ = gh Sw) = SY0) wih = mateo 23). VLS2 Generating Function for Symplecte Runge-Kutta ‘Methods Web jo sen hal spe wanformtons canbe witenin tems of en ‘sing nc, What ese generating fino forsee Range Kata ‘ethos! Toe fling rest proved by Lasagal loan unpubl mars. {ah be same tle sth oe Leap (1888) gies an sera pot for Toe ‘Theorem $3. Super ha ay yay = by forall 55 6H (see Thearem 43} Then the Runge Kuta method Pop-nd mila) F =P AY" oy thl PQ). oo @ AAS Aman ern Zameen canbe writen as (33) th Sah) = A WHLEQ) =F heyt(Ps QI HEPA). (510) ‘Pro We et eno) with pct, Usng the sbrevations Him Heath) = RRO). wes ‘ @ a aM) Damier (Be -aE zl) + Sanur (+95 east) win ® as,2 0 BaD ogo (hiss ied yeaa testo of 59.12 ae a Fl MLD = HS SL + Hy Py andthe condone yi ist reaton of askra.h) s'P.ak) Bah aS pa »Youin ‘ie nd in pin se ny T she a i Reg Rasa opmeneSy : eis eesti to noth whereas Lene 5.2 panes the lca enstence ‘0 generating fon 5 th expt for (10) ews that for Runge Kati ‘metods ths genetaing cio global defied. This meas thts wel ‘eine athe same region wire the Hsien Hp) ined.“Theorem SA, A purtiond Range Kuta method (22 saying the mpc: (iy condons (43 and (49), egal 0 (53) with S19) = ASMA) =I I> Wall PAI HP Qs {the Haitian of form H,9) = 19) + Ula) Le spare, then th condition (4) lope athe math the form (33 with = AI (WULQ) +BATLR)) — HSS HaUWLQIT HP) Proof. Tis i sighorvardexeasin ofthe poo ofthe pevios here. © \VLS3 The Hamilton-Jacobi Partal Differential Equation ‘or spect anfomation (9) => (2,0) te Theorem 5:1). Tas tine, how tren, we imagine the pai PUY), Q(0) ‘nor ne few of te anol sem, (2. We wish a detersies soot ene ing nto 0), now as depending ‘bic ners i (4 be syle Tp am (FC),Q()) of ie eset fiw te arora sem. 1 scsrdance wih equation (54) we ve sais P= (4. Q(t). cae a0.) Pda soni 2+ EioonnssBwana-an a1 ws as ou = le 009 + ae, ain gp PO.) 9 “Zi Gar tt 0 Doster 04 ot oath a 18 oti nh we have ised he second extaton of (1.7) for Tes ang he sin ‘leis eutonsnpies © ae (a +g agg B-8)) = oy “his mote he flowing eins aon Toeren 5. 15,8) esos saan f 98 (BS or EQ) ei and the mars (qf) ts merle, here is 2 map 9.9) + (PCO.@10) ine. 1) hhh fo ol) fh Hani se (1.7. Eyuaton (315) called the amon Soap feel equation’ Prof The vey ofthe matic (583) and hip con hee imo tate msping (9) -> (PU). Q() i weed by (5.11, by ‘iter, te 3.2) to Sine by inp, (9,01) 9 sion of (3.15), he estos (5. and bene abo (513) sae. Subang 3.12) nd (13a ne sin ‘ing tier ofthe mati (ger). we ace at meceay QU) (P0010) Tas proves the ay fh econ eqeton of te Hanon stage 0. “eit auton of (7 bined flows fete he fi aton wih nett dh anc eto (1) with pet 0 i te cine he tr 5, Using Q() = Hy (PU), QU). th nena staighorar vay to ¢) =~ (P,Q). ° nthe hands Jc (1842, this equation ed it 2 power ol forthe sale ingraion of mary afl peblews. On as, fo find slaon {f(.19) which conan uficiny many prance. This son pose wit thetmedod a separation of arabee An example is retain Eerie 2. amnion Jacobi Equation for $, $, nd 5°, We now exes he Hato ‘cab diferent equation ia the ores wed in Lemma 52 In these cord rvs itis so possible psa fia values fr Sa = 0. rom the poof ef Letina 2 we Kaow ta the gern fanctons inthe vases (,@) and (Pa) ae lad by SH a8 = PHQ=9)- 510.9.9. 616) ‘Wecaeier Pq, ¢as independent variables, owe dierent hi sion wih respecto Us te ft reabon oF (11) ives25 y= p?22- 8 90,22 So,0,2)= -Sia.0.0 erg) = 0a 2.082 - 5 4.Q.0)= ~Fia.0.0. ‘Dieretating (5.16 with sect 9 P vies ast 28.929. 2 Pa=a $8 - Fel Qngp= 2-0 “mening 8 = P and Q = 4+ 9f ato he Hato Sacsi eqn (5.15) we ‘xe edo tbeeqeon a te faring hare, “hore 6. 15"(, 4) aslo heparin Span = H(P04 25 (ean) (Pat) =. 1D then he mapping (p+ (PCL). fied by (39, the ext fw of the Ronitonan stom (1.75 Pro. Whenever th mapping (4) “+ (PU). Q(0) canbe rien a (5.1 with ‘aio SQ, t and when hier ssn of Theorem 3 Bld, roots dost th shove clesiston, ince our mapping fr t= fede {oid an cant be weiter (3.1), we ge dato et (Pet) be en bythe HamlonJcai equate (3.17), and asune tha (rg) "> (2.0) ~ (PI), 0) te Uasforation given by 3) Dien thon be fea of (3.3) wih pect ote Cand wing (17 ye st 75mg) 2 PS rg) = (12 FS erga) Mira (4 FR rae) = Dien the cd aon (35) 28 pane 2Sip a= Fen Bngne moa ina n( 2H = Heras 2 ran Hera?) ones, = B40) #8 Q = BLP.) 50 (P,Q) = pina oro Ror be eto em a ‘Weng he Haron Jacob eel equon i the rales (P + )/2, (@ 4 a)t ives te flowing forms. Fraps samira imran “Theorem 7. Assn that S00) sation of 2st ie = (0 2B wsnes wnt) my ih nia condon 0,00) = 0. Tha th xf 0) of he Hani ‘ew yem 17st 50 TRE San atte 2 cites ein n= Gat) steed yale ction a (PC sree uminonen sae me oo ‘Weiingw = (0) and wing he matic J of 2.3), the Harton Joe nie tin (1) ean ao be ten a ast Leon m ian n(wstvsins), Sousa aw) “Teese ayant emt) =e om “Tis canbe sen as lows: (yb he exact Now fhe Haman sytem fm FHVH(). Bese 0 (57), $0.) eed by te 198% ((etw) +0)/2), Relig wih tnd hen w with) we erm 2-0) = what we pln) = AVS (§ w/2 =). Hence $0) aS, 1) a enti econ ofthe same sympecc \uamormtion, Since genring foots ewig op oan ave cost (Grace Of 8 Cot anne (0 ars ome ‘VISA Methods Based on Generating Functions “Te conse symplesi mmr methods of high nd, Feng Kang (1980), Peng Kana, Wo, Qi Wang (1989) an Cnn Seo! (1990) proposed compas _Erapproxinaesolatn of te Hamilton Ith equation orth one ie SHP.4) = UP) + POA @) + COSIP. 9) + ino (3.17, an compas ike powers ft. This ekPa) ~ MPO cane) = (QE), (CH Ny Rata SHAY GPa) = GI * apa) aP by * BF GP) we wet nmeted series Sa) = OVP.) +RENP.Q) ++ NOKPQ) — 620) sas tit (55), oe uansforatin (0) (P,Q) es symplectic one Sep method of eer. Speci flows ot coce rom Lamina 52 and ode? isacomeguenc of te at th can of $1(P) arabe perton ize O(N") ke (17). We ema ta fort 2 2 the mead oe eee the compotion of higher cervaes of Hp.) and fer eure Hols Wineal™= 719) + Ug) Wey an longer epic (compared oe symplectic ule meta (1). “Toe me sperach ple i teh chrcerzaton of Lemma 5.2 yl (0) + PGW) +o Ga) Set where Gu) = Hu) xu) am arb (can be tsa by comparing ihe powers fh (19- In i ‘tay we ot symplete mao of eer or. Sica (wh) ban expansion powers of hte essing methods sme. “The Approach of Metbach Peach, Wah sm of acing higher eaves of the Hatin ine some metod, esta & Pech (1992) propo onssinggeeringfrtion of te frm tro ¥o 2") Suh) = AY OH (w+ hes VA), 2 saute determine he fe parameter bn sucha way a the funn of 3.22) {rer with tion ofthe Harton ar panto (519) upton cert orier Farber = band cre-y = yt fncton saber So, -h) = ~S¥(on 4 ‘hath ruling nd ste A elgforvndcompuion sow tat Ayes ameod of er 4 Dae Sad= = 3, tse eqn ae ia for by = y= 8/18 = 4/004 = = = \Vi5/0, dey = 0. Since he fenton 5 of (22) has te be sere ino (3.19), Aine meds ul aed ecnd derinves fe Hanon VLG Variational Integrators A third approch to smplet integrator comes rom ing ised versions of Honitor's prc which etemines he eeaone ef tation fom a rae ‘ional rblems THs rut has been ake by Sars (990), Macy 1992) ad ln ses of papers by Marsden and coos, se the review by Madea ‘Wes (2001) and efesaes teen: Base theoeel popes were formelted by Mae (1980987) and Vesely (19881991 sno marc oes, VL6.1 Hamilton's Principle (es oting Lats, he esto al pose wer ad as ‘Se an Soe ested af eta pce (CU Sep A Mier BIT.) ang er i ate en i ee ea aa 182,50 ‘ich wel cated by the dsl eis of Eee thd iptmgs te epton poe eioed ym as etc {own Lapa Tareas to's pp ced yc ‘Sot oped by te Sacni a at cane ce at se ‘Sneed etx of ao cede (tana 148,914) Lagrange’ seqios of motion (4) can be viewed ete EaerLagrange equations fore taal problem ol extemaing Ue ection eral St J, Hotenaeyae on soe all curves) at onset vo ge poi gy te)= a0, aft = a Gc, ecg ot) to be ail and soning ¢vrnono) + et ith the sae ents with S() = Sys) = O-ges, wing» pata au Inert, = L "(gk dab |, (oy 36 whi ad to (1.4). The pail a ein enemies tion ipa nove Hatin’ pine "We ow cone tbe acon lmepalas 2 feeton of (43 othe ion tof te Esler Lagrange equations (14) with thes boundary vols (hi exe “igo eaten fa sie hows), na,Stqnay = [Heo aera «© ‘The pa dato 5 withepe gi an ig pul nen, f(t be Maw ae 7 J, Core * 34) Oh ape. (OL £04) Beg amin) ‘4 Dake* hy Na a 2530 ‘wh y= oh te as ea ftlors fom (1) an (6.2) view of the {efnton (1) of be onugte emer, p~ 1/2 item pl Pe ‘Computing 8q,=p ahe same way, we ths on forte diferent ofS as, . 28 , Fetes FS deter rt 64 ric the i formu for symplectic geneaigfnctons (se (3.1) bow), ‘Buin here by wong wih be Laprnpin forais, ‘VL62 Diseretization of Hamilton's Principle Dice sine vero of Hania’ cpa of mathe inlet ia ie ma ight se Meds (1980982), Vesely (1991 anders thin Heep Ie cone with he i fering or detuning manera pyotiaon ‘cheese deze Hanlon pple cuss of exten, for Bes > sdge.te so S048) = So alte) «9 Weta te ore agit ao pti ee ae “s whereof esl of te Eser-Lagrnge tons (14) with boundary - engl) = er alesa) = des ey bli (68) ten ie cle rt the noses Ham pci al the ext scan ales ((t)) of he Ele {ange enon (1) ext the ston vir Before me om conte ‘xanpes of patina: Ly, we eine wth epee tery which rl- ‘peso emus ee. "The regiment 35,/By = 0 for an extemun yields he discrete Euler agree evans 2a, @ ata, - o ~ (au 1 00) + EN actuns)=0 on fern = hal 2h tp sie fer = Ta Sulanan) = 32 Lalonitest) where (qe) 2 sltion of the discrete Euler Laprange eqtions (6,7) wth he our ves pad With (67 he paral deseives eee s) “The sbovefomala nd (6:7 forn = 1 then ih 5 = pr day ~ ro 69) 1 (6) defines bijection betmeen py and goes fo en gem we isin 2 nvstep metal fs: (PmQn) > bnestti) by composing the Inverse discrete agente unaferm stop ith the cr Ear Lagrange ean, td the de ‘sete Leen atlormaton = shown ne dara on —!Cnstetesa) [es Orartotnet) ‘The method i sympecteby(69) and Theorem 51 A shat in the compton 'sobtined by mtn that (6.7) an (68) orm + nen fm ply ota, Poss = Fetes) (10) hich eds the sheme (68) 10) (n40) > (On tast) > (Posseteet) Lets summarize hes conleratns, which can be fod in Mads (1980), Ss (0900, Ves (1991) ad Mackay (1993),“Theorem 6 The discret Hanon principle for (63) ges the dsr Ealer- ‘Logrnge epation (5,7) and he spect seus me 2Bteet 0 “These forms io how tt Ls eeraing fen (34 ey seta Gene) Gyrisne Oeney sce vey Sropiecs eo Cee aersee Rncien ea bier ele fom Hates mec hi eeaing fio (othe cree Laggan, Te ses erie inepar sd vraag ethene "i sig cups of nel ers ied by cosig dso Lagan La wi) Example 62 (Mackay 190) Case a(n srs) by apna oo (Core iar iepetat gan oe ad opening eine by Setar eT ee Soe EH) ool thor yp etn satay 1a Felon + Islan) ) in vessel peste) 1k, pes = oon tessa Fora mectaiel Lagrangian L(g) = StimerVeet eted Ma ~ UC) is relaces 10 te peat = Migs HAF te Fy = ~9Ulq)- Iso dr tag esos 6) Seen a ers Mg Se a ml (edn & Marden 197 Apeiig itn 8) SStedsaaee oe Taltuterd “Tse be spmplesicschame ih eben a2 a engia= Wt = tel (nes eal = enn tein) Ree ee ae Mogan = pot Fain te = et hs Pees = Mann + hPa PUCK an th Fos ‘VL6.3 Symplecic Partitioned Runge-Kutta Methods Revisited “octin igh vritonalotegsor, Marsden Wet (200) conser te sow Lagrangian La(gos) = AY BLE) il) oy where w(t) ithe polyoma of dere swith 3(0) = 9) = ‘reine teri acd sie. They then show tat he comespoadig vation n= ‘epoca be rend a proned Runge-Kutta meta We ee consi the Slghly nore gene case ) =A Wend) «is, 2x0 = wth Dad, sth Qa chosen to cxzemie te shove sum unde te consist maw rhage, ‘We sisame thal the ace nn eroand har eis equals Now hat (6.14) {sth pci cue of (618) whee he and, integrals (L.1) of Lagrange ‘aon es fr collocation meds "Wiha Lagrange maple = (3-4) forthe consi the extrealty emis ney ereiig (13 8 petty eS = YoDw peeen hay +H/FFQnQs)= br Wi te rotston , ox, FAO), R= FlQ0) 1) ‘hasngtee . bE bAAThah a ‘ety met Tn att m= 2.0) ne at qty we we (619 and 32 00/809 = onic alls fom trent theca Inthe sane ay wectin sing tee fools togter,weseat (po) rs rom spying «rar one ngs Kista melodie Lagange ean (4) writen as diferent Heer stem ow ‘Tati 9) tna, am rhEscauds wih 2g = by — bay 0 0a he spect conden (3 fled nd With Qu Pe ele by (16) Stee equations (16) ae of ese fer st {Guay poor ac Teorem 13 shows hye geen ta Mina). an Mina) sith be Homitonan 1 = 974 ~ Lig.) of 1.6) We ave ths proved the allow Rp wtih arn spi ares of Sr (1990), ‘Theorem &. The vritonal interior wih the dserte Lagrangian (6.15) it quan tthe spect partitoned Rang Kats method (19) (020) appt 1@the Hanon om withthe Hartono (1), 3 puis, as noted by Marsden & West (2001, chasing Gs una: in (614) eves the Gaus ealcaton meth ape othe Helton sem, While Lato quadrature geste Lat ITA = TI pic ‘VL6A Noether’s Theorem Neer 918) We now ret othe sbjc of Chap 1V, i he enstence of ft inert herein he comet of Maitonan systems Noete owed the sarin eal tha cotnsoussameriein e Lagangian ad to soch it interale. We give ‘he following avon of er "Sat F pected oor neds wih parcial thon pen ‘Thcorem 6 (other 191). Conier assem with Hantonon 19,4) and Lagrangian (4). Stpose {gg » © R) tsa onparometer pou of andor Imation (© = vee] whi leaves the Lagrangian ret Hat. {a9} foraltsonda(a.i). (620) {Let 0) = Uo.) be defined a the vectr eld with flow Ten Ta) = rata) 2 a ft igral of he Homteion sem Example 66, LetG bea marc Lie prop wth Liealgeia ge Sex.1V8). Sop. pose (QQ) ~ L(q4) forall Q'€ G. Ten py eat nepal for every 1 € g,iake (= xplaA)g) For example, G = SO(n) yds comseraion ot nul momenta. ‘We rove Theorem 65 by stn he crete nalopse, which reads as lows ‘Theorem 67 Suppose the one parameter group of wanfomatons ay + € leaves the dar agro qf) aro tn(osoo).acin)) = Lalor) foralsandall (yy (623) "Then (62) te. fst integra ofthe method (6.11). 7E,y9(Que2) = Halen. Proof iferematng (23) with eget gies Sila! 040) = Fanon) + an ann By (6.11pm becomes 0% fal) + Fale °‘Tear 65 now folows bychosing Za = $ of) and mtn (64 ed statonatay =f an.tayae = [sles Savot)) = 8(ssa(a)-o4ate)) “Teor 6:7 bas te appearance of ving # ch sure of et tga rs ‘le meds Hoveer, itm be toed a, ale ease of ie act ow Tp inthe above font, he wastane (6.21) of the Lagrangian L dbs nt in eve ipl the evan (623) of he rl Lagrapan [of heuer Sethd. A noteworthy eepon ais fr Hoe rafomatins 8 a Exa (HE, fo whch Terence comervaion of quan eels ‘Tq seh as anglr momen, by symplectic pardoned Range Ku es lropeny we sey too fr Therem 1V-24 The Stier matod Flay enescend oe lao preserving non qr inept. Theorem 68, te he stuaton of Theorem 6 witha mechan Lagrangian L PMG U(g) he Stormer mathod eonseres he ost neal (3) = Fate Proof The inecane conan (621 yes, wth = 0 Yeasa) = UC) ora sang, om sno fT = JeP Mi, TU4(9)8)=7@) fora sandal g (625) “Tai shows tat AQ)? isan nba mat. “Te ennsfomed valves s(q for the sin of then vale problem Ayla ~ ay) (0) = 420 the dea 9) sles he vari eatin fae = ag) YC) = 1. Toe ontogeny of Ag, (MP tera: implies = dg *ATY = a)" M+ Al). which Shows th A") ‘Mew syncs for al - Hence we ola, with yo g(s) a y= 060) tee 4 (see) ~ aoe) are ion — am)® AN) ~ oe) = [Lonmin +P m=, 1 ©) oralsanda ng, — (620) ‘sig (624) an 6.26) in the expression (6.12) of the ict Lagranan La of ‘tine mad ies (623), andbence Teer 8. ger Ue ea VLT Characterization of Symplectic Methods Upto now in scape, we have presen ent coniton forthe sympec= ‘Ey of mural grates (ally Sa em of eran cetelent). Here, we il prove necesay ceo or symplectic, Le, answer the question st ‘shchmetiods are at symplectic hw am ot ht he suc conor of ‘Sect VI ander oa beds cosiion on the mae, la necesary The hla ol is te Taylor seis expusion of he ual Dow y= By 9p), wt ‘resssimetobea ees ‘VETAL SymplecticP-Serles (and B-Series) “The mma sohion of paoned Runge-Kuua eto (12.2 cas be writen in) (m) 4 (Eemdie rote) ()-(2)*(SerBieroes) 3 viens (nly ats) Lhike(r) for re TP, “LDhakedr) for re TP, (ex Tae 1.24, me ee a be eer Bee 9 Sistem ashen gunn Oanmrceen sean rma ene canieats Weare by fla) do) Che [nyt € Ty a = fy tly © TP ‘hd webu veal and Using ih cient le Tatoos Seinen) — (Lraim)(ae0). om hare me have wd he Bacher pode (eg utc (1987), Sst 149) on weve lest vous fone tmtly A (Compare sso Dein 1.3.7 and Fig 7.1 blow). Deon of. hs inpies a(uee)+a{veu) els) 069) for we TR, ve — 5) Sv irda deed on eset oto ath 4 in ofr) independ of te ou fhe rot fr. 08) For the psa ease of Beis, the allowing ea wat Get obiind in Cave & Son Sera (1954),“Taerem 7 Ifthe Pele (7.1) defer ample ranma for separ ‘Me Hamovon (2) = Tp) +) then (73 bas for rec where neigh uring verses have diferent esos "ts saplecfor al separable and rowsepraie Honiton, sen (7.3p ond (7.8) hl fora re. Prof 2) Wi wo tee € Th and» € TP, and we conarst(polyaia) nano schha he eesfomatn 71 aies Hosa) (lb CaP ae ‘ih C0, teste it component pan 9 te end como tent The splercky 1) imps ha he expen.) vie ‘at seen concen cndion (15) we then an anda coserte Observe the consol Vartonsn wl espa wien bd eso eciahtorn vere of te se clo Tor gvelwe TF, at Tr we defo Honor flows: othe Iwoncher oft we auch he uber 3 e+ ft ach ate ranch betwee ert a ded by 3. Then th Hania sm oF Ssinay tems as vere nee. The suman comesptng 0a ee rect comning be fact erp. ¢ isnupd xing bch emesis wi) we, et ao ap. 9) it ven ‘Suc haces. who adhe own envng ranch bel Poly ie cre snd enced ine copa he 8 a spac er teenage fig wear Hy) 8PEP PEP AEE EE HT EE. O8) oy YY ee Closer seinen) aya) a 74. arrton of e Hatoin (8) ‘Te coupon P'(e(p.0) of he elementary diferent cresponing to ‘he Haaltlouan sem (oh te Haronian contacted be ast Picci) = (-1pMMaluor)-7, Fivouing) = (-IMafuen) -¢ Paling) = (-2)%o(0) 0? e Folia) = ate) 2, a nd oral oer tees + © TP and componets i we have Peay = OF, om oF 19), 6) cots ve pamber of Wack vere fran he ner cor sient of) that of (23). For example. of) = fan ee) = 2 forte ves of 4.74. The verfeion of (29s nphforwad The cote ("1°") be {othe nis sgn inte it pu he Harton se (17) de sync ‘etic o(7 opens in crc} he se ay the densi! Toe feral. Dae te zo ial weno eenay Serena oer han ose £3) ive rise o woman express in 17). Coser for example tne Sco tpn uf Flip) ort tee TT nce we te coe the Hain sytem (te expres saath dee Ho The fee conte w (7. a po = = Daly eo ease pgs (rte example of Fig 7). Tis i am pes the presence ctor {gaan Comoing seo reaonng, we a tat Fr) a. tiesto apm = wy = Denys as Nth sind apumens ee at aly te leet difernls of 79) have to be cose We nw neh 19 (nd ne comrade ithe p nd Tt Jhlde C.D wie = [Ipod and certs dep odo (73) in 1) The necessity of conion (7.6) sen sll, Wea we ¢€ 17, ed we ki Fe TP; be the tee obtained fom + By caning he dea ote vere We tes stich te ambos Snr +110 he bch of and we def anosian sabre bt lle rom ating te fora pene ie face pt he erm comesponding othe ot. ortho? wake ts it Pete ead (0.0) (0.0) Ho ‘With his Hosonian we ge FENG) = UME) P, PU) = (-DMVfe)-?, And ths the oly elementary trent conan to he ef and expe Sion of. Wet get, ean 2 2) = (-h0nlr(airy— a7). cs ‘wich competes the poo of Thorn 7. 2 Costny 72. fa Beis (Deon 1.1.8) defines ypc rnsormation Jor anitonian stems (17. then aluov)balven)=alu)-a(0) for wwe (rayProf, A B-eieswt ctl a7; 7, apple tn parton dice pat, ean laa nexpresed a 2 sees (Definition 121), wre) = lpn) ere TP andy: TP 7 is empping tt frets eclouig of (te verdes Thi flows ra he a at acre ater ate) Feed) score = (Sere tina) foe € Tstecste a(x) os) = (0) 6) = elt)! ey = 9). be ‘restarts F(a) ae thos of Deion 2 whereas FC) (4) SU F(o)p a) ae tee of Te LL a ‘VI72 Irreducible Runge-Kutta Methods ‘We sow sl fo sty to what exe he coon of Theorem 43nd Theo: tere 4are io neces for sympestsly. Canier it th tage med ia) eye aa| 3 ws ww ‘The soon of he conespodingRange-Kuta sytem (14 is gives by ba = Fr howe k= fl P8/2) abd bens y= po hk Whatever the aes of te eh ate aidan of te Range mato siden a of Te ng midpoint re, 0 hat ties pple asfomatn. Hwee, tbe comin (42) ol ses or a= B= 1/8. Definition 73 Two sages aa j of Runge Kura method (1) ae sido be int for clas (of al au preblens, ifor every ble inP) and ‘Srevey sacl sal ep sae we hve = Ky Os = By aod = for pankoned Runge Kut meets (122). "Toe eto ical inedible for CP) dee ao have exe stages Win caed dace eines forall sult soot itl ve Foran anette ete Rng Kat ens, snc aia eT an TP) so ca log 9% Sue — (Ahir ET) withers g(r) ~ gulr) given by CLA.13)9 sh aGchiec Baye epee Tm) wabenta pf) prety 27: seca yee ran FO (eh Tl ou sciboung vrs ae dieaslous TFinaiamion wel ge) € Renee er wht seen) 4= 8 ~~ Tobe ml spa 9) GL 0, Lemma 74 (aires B94) A Rnge-Ku method i reducible and only the ots Dy hsp rn "A prin Range ita method iirc and only the mati Sra a fran ‘Aparitoned Rong Kt method is irreducible for separate probes Saht= a0) and ok ifthe mar gy as fl rank Proof fe sages ‘and jw equa follows fom he expansion . Be ES avon (sc we poo of Toor LL 4) and ren he ndependeney ofthe elmer ferns (Eee I.) tat (7) = 647) for alr © Hence, te rove ‘dj of he mae dar dene. The aogous sue for proned Rong Kista thos flows fom Team TE.24 and ExerselIL 6. Tas proves he rticeny of hel a’ conto, ‘We prove neces ony for proned Range Kuta metals pli 0 ep- antl problems (eo stains eat be weed snr. er seprble ro tems, ony ees in TP; U TP; pee to nonvanishing elemesary diferal Imei therefor pis that for every pa (3) wht 7 jee ei are ie TPy such ha y() #447). Conequeat near combine ton ofthe cols of Sg ba dint hemes is wc € © R™ (cyt many aon Stace) 9 © iene =a 2 fort 2). Due eat at (ry--7l) = 4b) De come Posenivise ric of wo columns of dye is pin a column of Fay, Cotinang {is rpwmentaon ond Oberving tha (11)? beacon of ace we eos ‘arte X each th jgeX = (nf ny ina Vendemonde nti Since he esti, the mati Bj bas 0 be of fal aks. 5 ‘VE73 Characterization of Irredueible Symplectic Methods ‘The secesty of he condition (4.2) fo symplecue Range-Kuanetods was est, sued by Lael (1988) Abi & San-Serea (1993) extended Hs prot pat toned methods. We llow bere ieas of Hater (199). Theorem 7.5, An iredcbe Range Kae method (IL) symplectie Yand only {foe conn (4.2) hold “Am reduce prone Range Kata method (IL22) emetic fand any (te condos (45) and (4 old ‘A pmlioned Runge Kuta mend, Inedcbejor seprable poten, zm plete for separable Halonen Hp) = Tp) + Ue) Wand onthe cond ow (3) hoPro Th“ pat fal he steets hee proved in Tee 43 ad ‘There 6 We prove th "bly i” part optioned Range Kats etd p= pedo gene Haroon steno Sateen cam be etaned In teesame wa) — ‘Weconslerhe a s mux A widkenses my = bay +I ~The ‘competion tthe begining of Sec VL? shows that for € TP and» € TP, HO) = eos) 4a yas) tc, Ds espe fe met, expen aes ad we ° Fgh Fn = se ng mas 14. plein of ie ei MT re cco Fr the etrd with componcsd, ~~ T, we at dT Prx = 0, sod we eee Foo Lemma 74 it d= Oso tat (4A) ea seen be seceesy O 0) VITA Conjugate Symplecticity “Te sympleccy sequent ny be oo stg if we a nereed in coer. longtime Setavoar ofa numerea ie Sale (198) sugges conse, ‘ode ht not necsanly syle bt ong symplectic mead. Delain. Two mone ethos y andy ae atl conga, hee ‘ite ploal ehangeaf corns. such at xo oxn aw Ce ocieer reer rset n= acct rs ae a Gaetano Sas dered eadg cto Seater aie ee [pee ecbuds ae be tropezldl and mio aes. Tse conjugay Bas been bei sense aoe ae a cence oman, HE ha0hm ON = Poth (oo Fig. 7.2) This shows BT = x !64"yu with x, 9. implying hat he ‘opti nd esdpoc ie are mis conte. The change cordate, Fev de miner tool nt to a fe ter ow) ey Shy F oe iy. 72.Cojopey of eg le init i ae 1h ict, we can do even beter. IF we le be the gu roto (i, yaya — Af seeLemmaIIL32) dene have (he 12) $= ha 098 06h = En) eFanotysotan oth oP s ‘0 tte aera te mpi esa cong Via. = hf. Since Band fae both comin with he sameeren equation. he tntsloraton yy i (1) lom tothe Katy. Thi shows that for very nae (4) ea by (rome. g=¥\r}sing Forsch fonction (ig ita symplecic ensfoemasion? 17 On eset U={ (59): 7+ 4" > 0) coir he diferent etaon ()-0 () et 2) ws sympleti everywbereon Shon sey simply. comered abt of U the vcr sd (2.1) eamiosan (rt (4) Io lglg) + Const, }tis0t possible wf diferente fapcton HU -+R sac a (8.1) ‘eqn J" VH(9) oral (4) ¢U- Remar Tie vcore (81) is ecaly tt lal) Haron. 8. Prove tthe detion 2.4) of (A) doe 0 cepend onthe patton (a te.te prnmerizaion = ys , where a fe dfeamepton between ‘ub domsins of ead the sme ral. 9. (Buna Sere 195), Prove thal members of hone purser ily lof Nyse ethode of rer 2, consnted ia Exerc a symone ted apne. 10, Compa be geneng funtion S'(Pg,8) of symplectic Nya method peat g =U 1, Pde Hat abi eation (ef. Thee $4 fe he prt fie ton 54.) of Lemans $2. 12, arch mehodfor enact igre). Sapose we havea oltlo S{@,Q,1,8) ofthe Haron Soe equton (3.1), depending ond prsmete ay sch hte mai (9) 6 aver, Since tis mari te Sstian oft stem as Day ‘hs sym dees ston path QQ whic i aly urge a pssesson of a atonal prem (and oleding te par dervaves ‘dh pet oak ahonal ow ad eon inthe Hessian mati cod ton), ne cn also dermine 8) a Rasen of Apply ths aod Yo he an208-1 Symp non of Hanoi Sy ep rblen (12.2) in la coulis, where, with he geet mo mena Fey = #9 be Haroon becomes 3+8) - 4 td he Hao cb dere eqeion (5.15) 5+ 36)"+ Bey? Meo Sr tisenaton bythe ansatz (7p (0-400) + 6x) (epuaen ovaries ‘Rene One otains | Vina Pating, , 05/0ay = 0, we ebainp = arin —Mrasl — ‘an clemestary integra. This, whea resolved for, leads othe elite movernent ff kKepe (Sect 12). This method ted oto be mst effec forte eat Inegn econ protien Wi te se em, st more ee | inthe eomptatons, eb calves incre 24 rh 30 of Gat 1842) the Kepler motion in the peotesis of els hs estes rsp), he ‘motion with two cet of ravi, and prove hcrem of Atl (Chon Lobo MS meth) Show hat her exists one peer fay ofsymplei, smc (and As) Rarge- Kats method cer 24 2 Based on Lobato gine (Chun 190). A spec caso hse eds a ‘robe ttng he bac mesa of te Lb TA ad Laat ‘eth cxf (Sun 200). in Use te W-ranforatio (2 ae & Wane (1986) 9.77) by pain Xen am —Xohaan aie const, Chapter VIL. Further Topics in Structure Preservation We discs theo! propeias an the numerical testnent of thee cscs of problems tht ae closely etd Hallonian ystems conse ie Chap VI 1a particle we sty syrmeic and symplectic meds for contmined Ha tonian systems. we present Poison intertor: for Haikonan problems with 2 nop-sandad since matin nd we pve vohimeresering elt fot ‘ieece fe dierent eintions ten! sre Hotton iene ‘VILA Constrained Mechanical Systems \Conained mechanical systems form an important ls of diferent] equations em maf Ther aerial westent ha bon extensively hve inthe font of diferentaalgebaic equations ud ls dcumented in monogropt ike ‘tor Brean Campbl & Pez (196) Ech Sone Fuhrer (199), Haire, Litch& Roche (1989), a Chap. Io er Wanoer (1986) We encenrae eran he symmetry aor symp of sch mame ‘VILLI Introduction and Examples mie meni se sed ty psn cones). ‘aro tt moon ears wea) =O mae 2-9 th med terTin a) hi Mod bene egy ote ae nd) ont ne ond po Mad = Ted) -Ve9 hee A = (hieosAn) com of Lagge kip. The Eales agange enon f evra ptm for fat ten ey 401) _ 9% (&)~3 fa" an =o. ‘Weiten as est der diferent eqn we pt