--------------

2 Poincare Henri
.

(1
.
(2 Smooth
.
(3 2
.

2 ) (Autonomous .
Autonomous

)(2-1

) x&1 = f1 (x1 , x 2
) x& 2 = f 2 ( x1 , x 2

x 2 , x1 f 2 , f1 .
x 2 , x1
) (phase plane .
x 2 x1 x 2 x1 .


--------------

) (phase plane trajectory .

phase portrait .
phase portrait :
x

m=1

K=1

&x& + x = 0

m x o
.

x (t ) = X o cos t
x& (t ) = X o sin t

x & x .
x 2 + x& 2 = x o2
&x

x & x
x o .

.
phase portrait .

.
.


--------------

)(singular points

x& = o ) (2-1
f 1 (x1 , x 2 ) = o , f 2 (x 2 , x1 ) = o

)(2 2
.

.
.

)(2 3
:

&x& + o.6 x& + 3 x + x 2 = 0

)( 3,0

)(0,0

phase portrait
.

2-3 &x

o + o +3 x + x 2 = o x = o

x = 3


--------------

dx 2
) f (x , x
= 2 1 2
dx1
) f1 (x1 , x 2

f 2 , f1 (singular valued) 0
dx 2
o
=
.
dx1
o

.
) ( .
.
: phase portrait x& = 4x + x 3 .
: : 4x + x 3 = o x = 0 , x = 2 , x = 2
phase portrait .

phase portrait

phase portrait :
Analytical -

isoclines

delta

Lienard

pell


--------------

) (piece- wise linear .

isocline .

.
dx 2
) f (x , x
= 2 1 2
dx1
) f1 (x1 , x 2

&x& + x = o
) &x& = (dx& dx ) (dx dt

&dx
+ x =o
dx

&x

:
x& 2 + x 2 = x o2

x0) x0
( .

&x

1
S

&

1
S

d = 0


--------------

& d & = ud

&d
= u
d

d = o
>o
<o
&

u
= ) u (t
u
&& = u

& 2 = 2 u + c1
.

, t = o x1 . & = o
x u = U & &x .
u = u

& 2 = 2u + c1

phase portrait


--------------

)( .
.

t = o ) (1
u = + U
) . (A u = U
) (2
) (B
. .


--------------

Isoclines

) x& 1 = f1 (x1 , x 2
) x& 2 = f 2 (x1 , x 2

x1 x2

.
dx 2
) f (x , x
= 2 1 2 =
dx1
) f1 (x1 , x 2

Isocline
. isocline
) f 2 (x1 , x 2 ) = f1 (x1 , x 2

) f 2 (x1, x 2 ) = f1 (x1, x 2 .
phase portrait Isocline
9 .
9 .


x1 = x

x 2 = x& x&1=x2

&x& + x = o

x& 2= x1

dx 2
x
= 1
dx1
x2


--------------

Isocline .
x1 + x 2 = o

x 2 x1 1

1
-1 x1

x 2 =

.
-2
.
: isocline

&x& + o.2 (x 2 1) x& + x = o

x1 = x
x 2 = x& x& 1 = x 2

x& 2 = x1 o.2 x12 1 x 2

isocline

x1 o.2 x12 1 x 2
x o2
=
=
x1o
x2


--------------

o .2 x12 1 x 2 + x1 + x 2 = o

isoclines
(1 x1 x2 .
dx 2
(2
dx1

phase portrait isocline

.

2
2

)(a 1
)(a 2

x& 1 = ax1 + bx 2
x& 2 = cx1 + dx 2

10


--------------

) (a 1 ) (a 2

)(a 3
)(a 4

&x&1 = ax& 1 + bx& 2

) bx& 2 = bcx1 + d(x& 1 ax1

) (a 3 ) (a 4
&x&1 (a + b )x& 1 + (ad bc )x1 = o

)(a + d )2 4 (ad bc
2

a+d

= 1, 2

2 , 1

x& 1 = 1 x1
x& 2 = 2 x 2

, x 2 (t ) = x 20 e 2 t

x1 (t ) = x10 e 1t

x1 12
x2 = x20 e
x10

(1 2 , 1 * x 2 , x1

11


--------------

1 2
)(stable node
(3 2 , 1 * x2 , x1
.
j

.
) ( 2 , 1
) (saddle point .

.
phase portrate : * 1 = 2 = .
) > 0 < 0 (.
(
12


--------------

(1

.
x& 1 = x 1 + x 2
x& 2 = x 1 + x 2

) (
x12 + x 22
x2
x1

=r

= tg 1

) r& = r (t
& =

13


--------------

= o
center point

k
.

&y& k 1 y 2 y& + y = o

x1 = y
&x 2 = y

x& 1 = x 2

x& 2 = x1 + k (1 x12 )x 2
x& = o x 2 = o
1
x& 2 = o x1 = o

f1

x 2 x1

f 2 x 2

x 2

f1

x& 1 x1
=

x& 2 f 2
x
1

14


--------------

x1

x2

o
1
x& 1
=

k 1 x12
1 2kx1x1
x& 2 1
4444442444444
3

A
1

o
= A
1

det (I A ) = o
k k2 4
2

= 2 k + 1 = o 1, 2

o < k < 2
k > 2

:2 ultera-lotka .

= x1
= x 2

g1 : a bx 2

x& 1
) = g1 (x 2
x1

a , b, c, d > o
g 2 : cx1 d

x& 2
) = g 2 (x 1
x2

x& 1 = (a bx 2 ) x1
x& 2 = (cx1 d ) x 2

15


--------------

d
c
= x e2
a
b

o
= x e1
o

a o
f

= = A
x xe1 o d

( a ) ( + d ) = o
1 = a , 2 = d

d
b
c
0

x e
2

0
= A
a c
d

2 + ad = o = j ad

center point
(1

Lorance attractor

) x& 1 = (x 2 x1

x& 2 = (1 + x 3 ) x1 x 2
, , b > o

x& 3 = x1x 2 b x 3

(2
16


--------------

.
x& 1 = 0 / 3 0 / 1 x1 + x 2 0 / 188 x12 x 2 0 / 75 x 32
x& 2 = 0 / 25 x1 0 / 1 x 2 + 0 / 047 13 + 0 / 188 x1x 22

(1

(2
.
.

17


--------------

) (o,o ) ( 3,o

.
Limit cycles

18


--------------

(1
t

(2
t
.

(3


.

19


--------------

x& 1 = x 2 x1 x12 + x 22 1
x& 2 = x1x 2 x12 + x 22 1

phase portrait
x2
x1

, = tg 1

r = x12 + x 22

dr
d
= r r2 1 ,
= 1
dt
dt

r = 1 r&(t ) = o r

d

dt

21 ) ( = 1 rad s
s

r < 1 r& (t ) > o

r > 1 r&(t ) < o


( phase portrait
20


--------------

x& 1 = x 2 x1 x12 + x 22 1

x& 2 = x1 x 2 x12 + x 22 1

N (a
s (b
pioncare
2 N = S + 1

index
.
Bendixson
D
) x& 1 = f1 (x1 , x 2
) x& 2 = f 2 (x1 , x 2

f
f1
+ 2 o
x1
x 2

= ) f (x D

x& 1 = x1 + x1x 22

21


--------------

x& 2 = x1 + x12 x 2

f (x ) = x 22 + x12 o

) f (x x1 o x 2 o

Poincare- Bendixson

) & = f (X
X X 2 X1

22