Existence and uniqueness of global Koopman eigenfunctions for stable fixed points and periodic orbits

Abstract

We consider C1 dynamical systems having an attracting hyperbolic fixed point or periodic orbit and prove existence and uniqueness results for Ck (actually Clock,α) linearizing semiconjugacies – of which Koopman eigenfunctions are a special case – defined on the entire basin of attraction. Our main results both generalize and sharpen Sternberg’s Ck linearization theorem for hyperbolic sinks, and in particular our corollaries include uniqueness statements for Sternberg linearizations and Floquet normal forms. Using our main results we also prove new existence and uniqueness statements for Ck Koopman eigenfunctions, including a complete classification of C∞ eigenfunctions assuming a C∞ dynamical system with semisimple and nonresonant linearization. We give an intrinsic definition of ”principal Koopman eigenfunctions” which generalizes the definition of Mohr and Mezić for linear systems, and which includes the notions of ”isostables” and ”isostable coordinates” appearing in work by Ermentrout, Mauroy, Mezić, Moehlis, Wilson, and others. Our main results yield existence and uniqueness theorems for the principal eigenfunctions and isostable coordinates and also show, e.g., that the (a priori non-unique) ”pullback algebra” defined in Mohr and Mezić (2016) is unique under certain conditions. We also discuss the limit used to define the ”faster” isostable coordinates in Wilson and Ermentrout (2018), Monga et al. (2019) in light of our main results.