FRONTIER DIAGRAMS: PARTITION OF PHASE SPACE ACCORDING TO THE SIGNS OF EIGENVALUES OR SIGN PATTERNS OF THE CIRCUITS
Authors: THOMAS RENÉ , KAUFMAN MARCELLE 
Published: December 2005

Nonlinear dynamic systems can be considered in terms of feedback circuits (for short, circuits), which are circular interactions between variables. Each circuit can be identified without ambiguity from the Jacobian matrix of the system. Of special relevance are those circuits (or unions of disjoint circuits) that involve all the variables of the system. We call them "nuclei" because, in the same way as, in Biology, the cell nucleus contains essential genetic information, in nonlinear dynamics, nuclei are crucial elements in the genesis of steady states. Indeed, each nucleus taken alone can generate one or more steady states, whose nature is determined by the sign patterns of the nucleus. There can be up to two nuclei in 2D systems, six in 3D systems, … n! in nD systems. However, many interesting systems of high dimensionality have only two, sometimes even one, nucleus. This paper is based on an extensive exploitation of the Jacobian matrix of systems, in order to figure the global structure of phase space. In nonlinear systems, the value, and often the sign, of terms of the Jacobian matrix depend on the location in phase space. In contrast with a current usage, we consider this matrix, as well as its eigenvalues and eigenvectors, not only in close vicinity of steady states of the system, but also everywhere in phase space. Two distinct, but complementary approaches are used here. In Sec. 2, we define frontiers that partition phase space according to the signs of the eigenvalues (or of their real part if they are complex), and where required, to the slopes of the eigenvectors. From then on, the exact nature of any steady state that might be present in a domain can be identified on the sole basis of its location in that domain and, in addition, one has at least an idea of the possible number of steady states. In Sec. 3, we use a more qualitative approach based on the theory of circuits. Here, phase space is partitioned according to the sign patterns of elements of the Jacobian matrix, more specifically, of the nuclei. We feel that this approach is more generic than that described in Sec. 2. Indeed, it provides a global view of the structure of phase space, and thus permits to infer much of the dynamics of the system by a simple analysis of sign patterns within the Jacobian matrix. This approach also turned out to be extremely useful for synthesizing systems with preconceived properties. For a wide variety of systems, once the partition process has been achieved, each domain comprises at most one steady state. We found, however, a family of systems in which two steady states (typically, two stable or two unstable nodes) differ by neither of the criteria we use, and are thus not separated by our partition processes. This counter-example implies non-polynomial functions. It is essential to realize that the frontier diagrams permit a reduction of the dimensionality of the analysis, because only those variables that are involved in nonlinearities are relevant for the partition process. Whatever the number of variables of a system, its frontier diagram can be drawn in two dimensions whenever no more than two variables are involved in nonlinearities. Pre-existing conjectures concerning the necessary conditions for multistationarity are discussed in terms of the partition processes.