1 Introduction
Lyapunov exponents are key invariants of smooth ergodic theory. They are upper semicontinuous, but usually not lower continuous functions of the invariant probability measure [Reference MarceloV2]. The goal of this work is to understand when the convergence of the entropy implies convergence of the Lyapunov exponents for smooth interval maps, as was established for surface diffeomorphisms in [Reference Jérôme, Crovisier and SarigBCS].
In this paper, we consider the simplest case when the map has only non-flat critical points and the entropy converges to the topological entropy. We obtain convergence of the Lyapunov exponents in Theorem 1.1. More precisely, we establish uniform integrability of
$\log |f'|$
in Theorem 3.4. For a general survey on this phenomena, see [Reference MarceloV1, Reference Sánchez and DiasS].
The one-dimensional case with non-flat critical points turns out to exhibit quite different difficulties than the surface diffeomorphism case, but the difficulties are quite different. This is also the simplest case of non-invertible and non-uniformly hyperbolic systems [Reference Ming, Jiansheng and ShuQ]. They come mostly from the lack of bounded distortion with respect to the differential. Namely, unlike the diffeomorphism case, we no longer have some uniform
$\varepsilon _0$
such that for all
$0<\varepsilon <\varepsilon _0$
, for all x,
$f(B(x,\varepsilon ))\subseteq B(fx,2|f' x|\varepsilon )$
, where
$B(x,\varepsilon )$
is the ball centered at x.
One possible application of Theorem 1.1 is to prove not only the finiteness [Reference JérômeB], but also the exponential mixing of the measures of maximal entropy for
$C^{\infty }$
one-dimensional systems with positive topological entropy and finite critical set [Reference Misiurewicz and SzlenkM1].
1.1 Statement of our main result
We let
$X=[0,1]$
or
$\mathbb {R}/\mathbb {Z}$
, and
$f:X\to X$
be a
$C^{\infty }$
smooth map. Given
$x\in X$
, we say f is non-flat at x, or simply that x is non-flat, if there exists
$d>0$
such that
$f^{(d)}(x)\neq 0$
. We assume that for all
$x\in X$
such that
$f'(x)=0$
, x is non-flat.
In this paper, a measure will always mean an f-invariant Borel probability measure on X. For a measure
$\mu $
, we denote by
$h(f,\mu )$
, or just
$h(\mu )$
, the entropy of
$\mu $
. We denote by
$h_{\mathrm {top}}(f)$
the topological entropy of f.
We consider sequences of measures of the following type.
Definition 1. Let
$(\mu _k)_{k\in \mathbb {N}^{\ast }}$
be a sequence of measures on X. We say that it approximates f in entropy, if:
-
(1) each $\mu _k$
is ergodic for f; -
(2) the sequence converges in the weak topology: $\mu _k \xrightarrow []{\ast } \mu $
for some measure
$\mu $
; -
(3) the entropies converge to the topological entropy: $\lim _{k\rightarrow \infty }h(f,\mu _k)=h_{\mathrm {top}}(f).$
For any probability measure
$\nu $
on X, define its Lyapunov exponent to be
Our main result is the following theorem.
Theorem 1.1. Let
$f:X\to X$
be a smooth map with only non-flat critical points and let
$(\mu _k)_{k\in \mathbb {N}}$
be a sequence of probability measures on X approximating f in entropy. Denote its weak limit by
$\mu $
. If
$h_{\mathrm {top}}(f)>0$
, then
1.2 Strategy: entropy and uniform integrability defect
Our overall strategy, like in [Reference Jérôme, Crovisier and SarigBCS], is to deduce from any failure of continuity of the exponent a non-trivial bound on the entropy. As one could expect, the critical points play a role similar to the homoclinic tangencies there. In contrast to the decomposition of [Reference Jérôme, Crovisier and SarigBCS, Theorem D], we are only able to quantify numerically the lack of uniform integrability of
$\log |f'|$
with respect to the
$\mu _k$
,
$k\ge 1$
as follows.
Definition 2. The uniform integrability defect of
$(\mu _k)_{k\in \mathbb {N}^+}$
is
It is well known that
$\unicode{x3bb} (\nu )$
is upper semi-continuous with respect to
$\nu $
. As
$-\!\log |f'|$
is continuous on
$\{ x: |f'(x)|\geq \delta \}$
,
$\int _{\{ |f'|\geq \delta \}}-\!\log |f'|\,d\mu _k\rightarrow \int _{\{ |f'|\geq \delta \}} -\!\log |f'|\,d\mu $
. One then sees the following lemma.
Lemma 1.2. The uniform-defect
$\alpha $
of a sequence of measures gives the defect in lower semicontinuity of the Lyapunov exponent:
Setting
$\Lambda (f):=\sup |f'|$
and
$\unicode{x3bb} (f):=\log \Lambda $
, we get the following entropy bound.
Theorem 1.3. Let
$f:X\rightarrow X$
be a smooth map with non-flat critical points. Let
$(\mu _k)_{k\in \mathbb {N}^+}$
be a sequence of ergodic measures converging in the weak topology to some measure
$\mu $
. If
$\alpha $
is the uniform integrability defect, then
Note that the two previous statements imply our main result, Theorem 1.1.
1.3 Organization of the paper
In §2, we define and investigate shadowing intervals. These intervals are orbit segments approximated by critical points. We prove that the portion of these intervals among
$[0,n[$
converges to the uniform defect
${\alpha }/({\unicode{x3bb} (f)})$
(Theorem 2.1).
In §3, we deduce an entropy bound (Theorem 3.4) from the portion of shadowing intervals among
$[0,n[$
.
1.4 Notation
Let
$C(f):=\{ c\in X: f'(c)=0 \}$
. Here,
$C(f)$
is a finite set, since each c is non-flat. For each
$c\in C(f)$
, write
$d_c:=\min \{ d\in \mathbb {N}^{+}: f^{(d)}(c)\neq 0 \}$
and
the (
$d_c-1$
)th Taylor polynomial of
$f'$
at c. Then, define
$g_c(x)$
as the unique smooth function such that
Define
$K(f):=\max _{c\in C(f)}\{ d_c \}$
. When f is clear from the context, we abbreviate
$K:=K(f)$
. Note that
$g_c(c)=1$
.
We abbreviate
$f'x:=f'(x)$
,
$x_a:=f^a x:=f^a(x)$
for all
$x\in X$
, for all
$a\in \mathbb {N}$
.
Since
$C(f)$
is a finite set, for
$\varepsilon <\tfrac 12\min \{ d(c_1,c_2): c_1,c_2\in C(f) \}$
and for all
$x\in X$
, the number of points in
$(x-\varepsilon ,x+\varepsilon )\cap C(f)\leq 1$
. Given
$a\in \mathbb {N}$
, when
$(x_a-\varepsilon , x_a+\varepsilon )\cap C(f)\neq \emptyset $
, we let
$c_a$
be the unique point in the intersection.
Fix
$\varepsilon ^{\prime }_1>0$
such that for all
$c\in C(f)$
,
$|f'|_{(c-2\varepsilon ^{\prime }_1,c)}|$
is monotone decreasing and
$|f'|_{(c,c+2\varepsilon ^{\prime }_1)}|$
is monotone increasing. Note that
$(c-2\varepsilon ^{\prime }_1,c+\varepsilon ^{\prime }_1)\cap C(f)=\{ c \}$
for all
$c\in C(f)$
. Fix
$\varepsilon ^{\prime \prime }_1>0$
such that for all
$c\in C(f)$
, for all
$x,y\in (c-2\varepsilon ^{\prime \prime }_1,c+2\varepsilon ^{\prime \prime }_1)$
,
$\tfrac 12<{|g_c(x)|}/{|g_c(y)|}<2$
. Finally, let
Denote by
$\mathbb {P}(f)$
the space of f-invariant, Borel, probability measures on X and
$\mathbb {P}_{\mathrm {erg}}(f)$
the subspace of ergodic measures in
$\mathbb {P}(f)$
.
Throughout this paper, we consider integer intervals, such as
$[a,b[:=\{ k\in \mathbb {N}: a\leq k<b, a\in \mathbb {N}, b\in \mathbb {R}_{+} \}$
for
$-\infty < a <b\leq \infty $
. For every finite subset
$K\subseteq \mathbb {N}$
, we denote by
$K^{-}:=\min K$
and
$K^{+}:=\max K$
.
2 Shadowing intervals
Definition 3. Given
$\varepsilon>0$
, an integer interval
$I=[a,b[$
is an
$\varepsilon $
-shadowing interval for
$x\in X$
if there exists
$c\in C(f)$
, such that for all
$0\leq h<b-a$
,
For all
$L\in \mathbb {N}^{+}$
, an
$\varepsilon $
-shadowing interval
$[a,b[$
for x is
$(L,\varepsilon )$
-shadowing if
$b-a\geq L$
.
In this section, we prove the following theorem.
Theorem 2.1. For all
$\varepsilon>0$
,
$L\in \mathbb {N}^{+}$
, there exists
$\delta>0$
such that for all
$\nu \in \mathbb {P}_{\mathrm {erg}}(f)$
, with
$h(\nu )>0$
, for
$\nu $
-almost every (a.e.)
$x\in X$
, there exists a collection
$\mathcal {S}(x)$
of finite integer intervals, satisfying the following.
-
(1) The map $x\mapsto \mathcal {S}(x)$
is measurable on X: for each
$n\in \mathbb {N}$
, for each collection J of subsets of
$[0,n[$
,
$\mathcal {S}^{-1}_n(J):=\{ x\in X: \{I\cap [0,n[: I \in \mathcal {S}(x)\}=J \}$
is measurable. -
(2) The intervals in $\mathcal {S}(x)$
are
$(L,\varepsilon )$
-shadowing and pairwise disjoint. -
(3) Denote by $\bigcup \mathcal {S}(x):=\bigcup _{I\in \mathcal {S}(x)} I$
. For all
$n\in \mathbb {N}^{+}$
, $$ \begin{align*} \bigg|\!\bigcup \mathcal{S}(x)\cap [0,n[ \bigg|\geq \bigg(1-\frac{1}{L}\bigg)\sum_{i=0}^{n-1} -\frac{\log_{\delta}|f'x_i|}{\unicode{x3bb}}-g_{\varepsilon,L,n}(x), \end{align*} $$where
$$ \begin{align*} \log_{\delta} t:= \begin{cases} 0 &{\text{if } t\geq \delta},\\ \log t &{\text{otherwise}}, \end{cases} \end{align*} $$and $g_{\varepsilon ,L,n}: X\rightarrow \mathbb {R}$
, depending on
$\varepsilon $
, L and n, is measurable and satisfies for
$\nu $
-a.e. x, $$ \begin{align*} \lim_{n\rightarrow \infty}\dfrac{1}{n}g_n(x)=0. \end{align*} $$
2.1 Basic properties
Lemma 2.2. For all
$L\in \mathbb {N}^+$
,
$0<\varepsilon <\varepsilon _1$
, there exists
$\delta _1>0$
such that for all
$0<\delta <\delta _1$
, for all
$x\in X$
, and for all
$a\in \mathbb {N}$
, if
$|f'x_a|<\delta $
, the integer interval
$[a,a+l(a)[$
is a
$(L,\varepsilon )$
-shadowing interval, where
Proof. Given
$L>0$
,
$0<\varepsilon <\varepsilon _1$
, choose
$\delta ^{\prime }_1\in (0,1)$
such that
$|f'x|<\delta ^{\prime }_1$
implies there exists a unique
$c\in C(f)$
, with
$d(x,c)<\varepsilon $
. Then, define
$\delta _1:=\min \{ \delta ^{\prime }_, \Lambda (f)^{-L}\}$
.
Assume
$a\in \mathbb {N}$
satisfies
$|f'x_a|<\delta _1$
. We check that
$[a,a+l(a)[$
is
$(L,\varepsilon )$
-shadowing.
First, note that
$l(a)\geq L$
. Indeed,
Second, observe that
$[a,a+l(a)[$
is
$\varepsilon $
-shadowing.
Since
$\delta _1<\delta ^{\prime }_1$
, there exists a unique
$c_a\in C(f)$
such that
$d(x_a,c_a)<\varepsilon $
. Now, for all
$0<h<l(a)$
,
The second inequality follows from the fact that
$d(x_a,c_a)<\varepsilon <\varepsilon _1$
and
$|f'|$
is monotone decreasing from
$x_a$
to
$c_a$
; the last inequality follows from our choice of
$\delta <\delta ^{\prime }_1$
, which guarantees
$\Lambda (f)^{-\!\log |f'x_a| / \unicode{x3bb} (f)}|f'x_a|\leq 1$
.
In the following sections, since the parameters
$\varepsilon>0$
,
$\delta>0$
, and
$x\in X$
are fixed, we omit them from the notation.
We define
$A(x):=\{ a\in \mathbb {N}: |f'x_a|<\delta \}$
and
When the base point x is clear from the context, we abbreviate
$A:=A(x)$
.
Definition 4. An
$(\varepsilon , \delta )$
-piecewise shadowing interval for
$x\in X$
, abbreviated as a
$(\varepsilon ,\delta )$
-PSI, or just a PSI, is a sequence of consecutive
$\varepsilon $
-shadowing intervals
such that:
-
(1) $a_1<a_2<\cdots <a_{n+1}$
; -
(2) for all $1\leq i\leq n$
,
$a_i\in A$
; -
(3) for all $a_1\leq k<a_{n+1}$
, $$ \begin{align*} G^I(k):=\prod_{a_1\leq j\leq k}F( j)<1. \end{align*} $$
The support of I,
$ \operatorname {supp} I$
, is the union
$[a_1,a_{n+1}[$
. We also set
Note that a PSI is not an interval but a collection of intervals.
Note that if
$\{[a_1,a_2[, \ldots , [a_n,a_{n+1}[\}$
is
$\varepsilon $
-piecewise shadowing, so will be
$\{[a_1,a_2[, \ldots , [a_s,b[\}$
for all
$s\leq n$
and
$b\in [a_s,a_{s+1}]$
.
Definition 5. A piecewise shadowing interval
$I=\{[a_1,a_2[,\ldots , [a_n,a_{n+1}[\}$
is right maximal if
$G^I(a_{n+1})\geq 1$
.
Lemma 2.3. Let
$I=\{[a_1,a_2[, \ldots , [a_n,a_{n+1}[\}$
be a right maximal PSI. Then,
$a_{n+1}\notin A$
.
Proof. Since I is a PSI,
$ G^I(a_{n+1}-1)<1$
. If
$a_{n+1}\in A$
, then
$F(a_{n+1})=2^{K+1}\cdot \, |f'x_{a_{n+1}}|<1$
and
which contradicts our assumption that I is right maximal.
Lemma 2.4. Let
$I_1=\{[a_1,a_2[, \ldots , [a_n,a_{n+1}[\}$
,
$I_2=\{[b_1,b_2[, \ldots , [b_m,b_{m+1}[\}$
be two PSIs such that
$[a_1,a_{n+1}[ \cap [b_1,b_{m+1}[\neq \emptyset $
. Denote by
then
$J:=\{[s_1,s_2[, \ldots , [s_l,s_{l+1}[\}$
is again a PSI. We denote it by
$I_1 \cap I_2$
.
Proof. Up to changing notation, we assume
$a_1\leq b_1$
.
Note that for
$j\leq l$
,
$s_j=a_i$
with
$i\leq n$
or
$b_j$
with
$j\leq m$
. Thus:
-
(1) all $s_j\in A$
; -
(2) $[s_j,s_{j+1}[$
is a segment of some
$[a_i,a_{i+1}[$
or
$[b_i,b_{i+1}[$
, with
$s_i=a_i$
or
$b_i$
; hence, a shadowing interval.
It remains to check that
$G^J(k)<1$
for all
$k\in [s_1,s_{l+1}[$
. Now, if
$k\leq a_{n+1}$
, then
$G^J(k)=G^{I_1}(k)<1$
. If
$k>a_{n+1}$
, then
$b_1<k<b_{m+1}$
and
since
$\operatorname {I_1}\cap \operatorname {I_2}\neq \emptyset $
implies
$b_1<a_{n+1}$
.
Lemma 2.5. Let
$I_1=\{[a_1,a_2[,\ldots , [a_n,a_{n+1}[\}$
,
$I_2=\{[b_1,b_2[, \ldots , [b_m,b_{m+1}[\}$
be two right maximal PSIs. Then, their supports are either disjoint or nested.
Proof. We proceed by contradiction. Let
$I_1, I_2$
be as above. We can assume that
$a_1<b_1$
,
$\operatorname {supp}I_1\cap \operatorname {supp}I_2\neq \emptyset $
, and
$I_2$
is not contained in
$I_1$
. Thus,
$b_1<a_{n+1}$
and
$a_{n+1}<b_{m+1}$
.
By Lemma 2.4,
$I_1\cup I_2$
should be a piecewise shadowing interval. However, this implies
$G^{I_1}(a_{n+1})=G^{I_1}(b_1)G^{I_2}(a_{n+1})<1$
, which contradicts
$I_1$
being maximal.
Recall that we defined
$K=K(f):=\max _{c\in C(f)}\{ d_c \}$
.
Lemma 2.6. If
$I=\{[a_1,a_2[,\ldots ,[a_n,a_{n+1}[\}$
is a right maximal PSI, then
Proof. By definition of right maximality,
Taking the logarithm, we get
Thus,
2.2 Inductive construction of
$\mathcal {S}(x)$
In this subsection, we produce the sequence
$\mathcal {S}(x)$
of intervals announced in Theorem 2.1 by an inductive scheme. We can assume that
$C(f)\cap \operatorname {supp}\nu \neq \emptyset $
, otherwise Theorem 2.1 is trivial.
We fix
$\varepsilon>0$
,
$L\in \mathbb {N}_+$
, and let
$\nu \in \mathbb {P}_{\mathrm {{erg}}}(f)$
, with
$h(\nu )>0$
. Note that for all
$\delta>0$
,
$\nu (\{ x:|f'x|<\delta \})>0$
. Otherwise,
$\alpha =0$
and Theorem 1.3 is trivial.
Definition 6. Let
$x\in X$
and
$I=[a,b[$
be a shadowing interval for
$x\in X$
with
$b\in A$
. We say that I is non-switching if
Otherwise, we say that it is switching.
The terminology is explained by the following proposition.
Proposition 2.7. Let
$I=[a,b[$
be a shadowing interval with
$b\in A$
.
If I is non-switching, then
if I is switching, then
Proof. First, note that as f has only non-flat critical points and
$\varepsilon $
is small,
$|f'|$
is monotone from
$x_b$
to
$c_b$
and from
$f^{b-a}c_a$
to
$c_b$
. Thus, by the mean value theorem,
We consider three cases.
Case A.1: When I is non-switching and
$|f'x_b|\geq |f'f^{b-a}c_a|$
. By the previous discussion,
Case A.2: When I is non-switching and
$|f'x_b|\leq |f'f^{b-a}c_a|$
. Then,
Then, we compare
$|f'f^{b-a}c_a|$
with
$|f'x_b|$
. Since I is non-switching,
$d(f^{b-a}c_a,c_b)<d(f^{b-a}c_a,x_b)+d(x_b,c_b)\leq 2d(x_b,c_b)$
. Thus,
where the last inequality follows from (1.1) and (1.2).
Case B: When I is switching. Since
$|f'|$
is decreasing from
$x_b$
to
$c_b$
, we have
We conclude
Definition 7. Given
$x\in X$
and a pair
$(I,a^{\ast })$
, where
$I:=\{[a_1,a_2[,\ldots [a_s,a_{s+1}[ \}$
is a PSI and
$a^{\ast }\in A\cap [a_s,a_{s+1}[$
, define
by
where
$A_{a^{\ast }}:=A\cap [a_1,a^{\ast }[$
.
This pair
$(I,a^{\ast })$
is an intermediate piecewise shadowing interval (IPSI) if we have:
-
(1) for all $k\in \operatorname {supp} I:=[a_1,a_{s+1}[$
, $$ \begin{align*} G^I_{a^{\ast}}(k)<1; \end{align*} $$
-
(2) if $k\in [a_j,a_{j+1}[$
for some
$1\leq j\leq s$
, then $$ \begin{align*} d(x_k,f^{k-a_j}c_{a_j})<G^I_{a^{\ast}}(k)\varepsilon. \end{align*} $$
The terminology is explained in the following proposition.
Proposition 2.8. Given
$\varepsilon>0$
, there exists
$\delta _1>0$
such that for all
$0<\delta <\delta _1$
, every
$x\in X$
such that
$|(f^n)'x|\rightarrow \infty $
, for each
$a_1\in A$
, there exists I, a right maximal PSI starting at
$a_1$
.
Proof. Fix
$\varepsilon>0$
small, then Lemma 2.2 gives
$\delta _1>0$
. Then, choose a
$0<\delta <\delta _1$
. Let
$x\in X$
and
$a_1\in A$
.
Claim 1. There is a finite sequence of pairs
$(I_s,a^{\ast }_s)$
,
$s=1,\ldots S$
, with
$I_s$
a finite collection of integer intervals and
$a^{\ast }_s\in \mathbb {N}$
such that:
-
(1) $(I_s,a^{\ast }_s)$
is an IPSI,
$s=1,\ldots , S-1$
; -
(2) $\min I_s=a_1$
; -
(3) for $1<s\leq S$
,
$\operatorname {supp} I_{s-1}\subseteq {\operatorname {supp }} I_{s}$
,
$a^{\ast }_{s-1}<a^{\ast }_s$
; -
(4) $S>1$
is the minimal
$s\geq 1$
such that
$a^{\ast }_s=\max I_s+1$
; -
(5) $I_S$
is a PSI and it is right maximal.
Proof. We build by induction a sequence of IPSIs satisfying conditions
$(1)$
,
$(2)$
, and
$(3)$
until condition
$(4)$
holds. Then, we check condition
$(5)$
.
For
$s=1$
, we define
$(I_1,a^{\ast }_1)$
by setting
$I_1:=\{ [a_1,b_1[ \}$
, with
$b_1:=a_1+l(a_1)-(({K+1})/{\unicode{x3bb} })\cdot \log 2$
and
$a^{\ast }_1=a_1$
.
Note that
$[a_1,b_1[$
is a shadowing interval by Lemma 2.2, so
$(I_1,a^{\ast }_1)$
is an IPSI.
Now, assume by induction that for some
$s\geq 1$
, there are some IPSIs
$(I_1,a^{\ast }_1),\ldots $
,
$(I_s,a^{\ast }_s)$
satisfying conditions
$(2),(3)$
, and
$a^{\ast }_t\leq \max I_t$
for
$t\leq s$
. The induction ends when
$s+1=\max I_{s+1}+1$
.
Now, we build a new IPSI according to the following two cases.
Case A:
$A\ \cap\ ]a^{\ast }_s, \max I_s]\neq \emptyset $
. Write
$I_s:=\{ [a_1,a_2[,\ldots , [a_r,b[ \}$
. Notice that since
$I_s$
is an IPSI,
$[a_r,b[$
is a shadowing interval with
$a^{\ast }_s\in [a_r,b[$
.
Fix
$a^{\ast }_{s+1}:=\min \{ a\in A\ \cap\ ]a^{\ast }_s,\max I_s] \}\in [a_r,b[$
. Note that
$[a_r,a^{\ast }_{s+1}[$
is either switching or non-switching.
Case A.1:
$[a_r,a^{\ast }_{s+1}[$
is non-switching. Define
Note that these two are well defined, since
$G^{I_s}_{a^{\ast }_{s+1}}$
is a map defined on
$[a_1,\infty [$
. We now verify that
$(I_{s+1},a^{\ast }_{s+1})$
is indeed an IPSI.
First, note that by our choice of
$b'$
, automatically,
$G^{I_{s+1}}_{a^{\ast }_{s+1}}(k)< 1$
for all
$k\in \operatorname {supp}I_{s}$
.
Note that by our choice,
$a^{\ast }_{s+1}>a^{\ast }_s$
, so
$A\ \cap\ ]a^{\ast }_{s},a^{\ast }_{s+1}[\ =\emptyset $
. Now, since
$G^J_{-}(k)$
depends on
$A\cap [a_1,-[$
, we see that for
$a_1\leq k\leq a^{\ast }_{s+1}$
,
and for
$a^{\ast }_{s+1}<k<b'$
,
for all
$1\leq k\leq b'$
. So, for
$a_1\leq a_i \leq k \leq a_{i+1} \leq a^{\ast }_{s+1}$
, by inductive hypothesis,
$d(x_k,f^{k-a_i}c_{a_i})<G^{I_{s+1}}_{a^{\ast }_{s+1}}(k)\varepsilon $
. For
$a_r< a^{\ast }_{s+1}<k<b'$
,
where the second inequality follows from
$a^{\ast }_{s+1}\in [a_r,b'[$
being non-switching and Proposition 2.7; the third inequality follows from
$a^{\ast }_{s+1}\in [a_r,b[$
and inductive assumption; the fourth equality follows from our definition of
$G^{I_{s+1}}_{a^{\ast }_{s+1}}$
. From (2.1) and the fact that
$G^{I_{s+1}}_{a^{\ast }_{s+1}}(k)<1$
, it is easy to check that
$[a_r, b'[$
is shadowing.
Case A.2:
$[a_r,b[$
is switching. Define
We verify that
$I_{s+1}$
is an IPSI.
For
$a_1\leq k\leq a^{\ast }_{s+1}$
, since by our choice
$a^{\ast }_{s+1}>a^{\ast }_s$
,
and for
$a^{\ast }_{s+1}<k<b'$
,
Thus, for
$a_1\leq k\leq a^{\ast }_{s+1}$
, naturally
$d(x_k,f^{k-a_i}c_{a_i})<G^{I_{s+1}}_{a^{\ast }_{s+1}}(k)\varepsilon $
. For
$a^{\ast }_{s+1}<k<b'$
, as
$k\in [a_{r'},b'[$
and
$a_{r'}=a^{\ast }_{s+1}$
by our construction,
where the second inequality follows from Lemma 2.7, applied to
$a^{\ast }_{s+1}\in [a_r,b[$
, the switching interval.
The integer intervals
$[a_1,a_2[,\ldots [a_{r-1},a_r[$
are all shadowing by inductive assumption. The interval
$[a_r,a^{\ast }_{s+1}[$
is also shadowing, since
$[a_r,a^{\ast }_{s+1}[ \ \subseteq [a_r,b[$
, and the latter is shadowing by inductive assumption. Additionally,
$[a^{\ast }_{s+1},b'[$
is shadowing by the arguments above as well as the definition of
$b'$
.
Case B:
$A\ \cap\ ]a^\ast _s, \max I_s]=\emptyset $
. In this case, we define
By our assumption of this case,
$a_{s+1}>b$
, for
$I_s$
,
In this case, for all
$a_1<k<b$
,
so
$I_S$
is a PSI by the definition of b.
Note that in Case B, the constructed sequence
$(I_s,a^{\ast }_s)$
satisfies the first three conditions
$(1)$
,
$(2)$
, and
$(3)$
by construction. It remains to check that
$(I_s,a^{\ast }_s)$
also satisfies conditions
$(4)$
and
$(5)$
.
Condition
$(4)$
follows by induction hypothesis.
Then, we check condition
$(5)$
. By construction, I is a PSI, so it remains to check that it is maximal. Note that by our construction in Case B,
$I_S=I_{S-1}$
. By our definition of
$b'$
for
$I_{S-1}$
, we know that
$I_S$
is right maximal.
Now, it remains to show that for all
$x\in X$
with
$|(f^n)'x\rightarrow \infty |$
, the inductions end up with Case B within a finite amount of steps.
We prove by contradiction. Note that for each
$x\in X$
, the collection of visits near the critical set A is a monotone non-decreasing sequence in integers. Thus, by induction, when s goes to infinity,
$a^{\ast }_s$
is also monotonely non-decreasing. Thus,
$a^{\ast }_{s}\geq s$
. Hence, for all
$k\geq a_1$
,
$k\leq a^{\ast }_k<b$
, and
$k\in [a_1,b[$
.
On the one had, note that by definition of IPSI, for this k,
On the other hand, we have assumed
$|(f^{k-a_1})' x_{a_1}|\rightarrow \infty $
. For k large enough, this yields a contradiction.
This finishes the proof of the claim.
Just take
$I=I_S$
and we have proved the proposition.
2.3 Proof of Theorem 2.1
We start with one basic lemma from abstract ergodic theory.
Lemma 2.9. Let
$(X,\mathcal {B},\nu )$
be a probability space and
$f:X\rightarrow X$
be a
$\nu $
-ergodic map. Let
$\Psi :X\rightarrow [-\infty ,\infty )$
be a
$L^1(\nu )$
-function such that
If for all
$x\in X$
there are two sequences
$(a_n)_{n\in \mathbb {N}}$
,
$(b_n)_{n\in \mathbb {N}}$
such that:
-
(1) $a_n\leq n\leq b_n$
,
$a_n \uparrow \infty $
; -
(2) for all $x\in X$
, $$ \begin{align*} \begin{aligned} &\inf_{n\geq 1} \sum_{i=a_n}^{b_n-1}\Psi(x_i)\geq0; \end{aligned} \end{align*} $$
$$ \begin{align*} \begin{aligned} &\eta(x):=\sup_{n\geq 1}\sum_{i=a_n}^{b_n-1}\Psi(x_i)<\infty, \end{aligned} \end{align*} $$
then for
$\nu $
-a.e.
$x\in X$
,
$b_n-n=o(n)$
,
$n-a_n=o(n)$
.
Proof. Since
$b_n\geq n$
,
$b_n \rightarrow \infty $
for all
$x\in X$
.
Since
$\nu \in \mathbb {P}_{\mathrm {erg}}(f)$
, by Birkhoff’s ergodic theorem, for
$\nu $
-a.e.
$x\in X$
,
Subtracting the second equation from the first, we have
By the first assumption,
$a_n\leq b_n$
. Hence, an
$o(a_n)$
is also an
$o(b_n)$
. Moreover, by the second assumption,
$ 0\leq \sum _{i=a_n}^{b_n-1}\Psi x_i\leq \eta $
,
$ \sum _{i=a_n}^{b_n-1}\Psi x_i=o(b_n)$
. Replacing corresponding terms in (2.2), we have
Now that
$\int \Psi \,d\nu \neq 0$
as assumed, we have
$b_n-a_n=o(b_n)$
.
Since
$b_n-a_n=|b_n-n|+|a_n-n|$
,
Now, we prove Theorem 2.1 using Proposition 2.8 and Lemma 2.9.
Proof. Fix
$\varepsilon>0$
,
$L\in \mathbb {N}^+$
.
Fix
$\delta _1$
as in Proposition 2.8. Then, take
$0<\delta <\delta _1$
such that
Let
$\nu \in \mathbb {P}_{\mathrm {{erg}}}(f)$
with
$\unicode{x3bb} (\nu )>0$
.
Step 1: The construction of
$\mathcal {S}(x)$
. This implies
$\nu (X_0)=1$
, where
$X_0:=\{ x\in X: |(f^n)'x|\rightarrow \infty \}$
. By Proposition 2.8, there exists
$X_1\subseteq X_0$
,
$\nu (X_1)=1$
, such that for all
$x\hspace{-1pt}\in\hspace{-1pt} X_1$
, there exists a right maximal PSI
$J_1(x)$
, with
$ \min J_1(x)\hspace{-1pt}=\hspace{-1pt}\min A(x)$
. Consecutively, given
$l\in \mathbb {N}^+$
, applying Proposition 2.8 again to
$X_l$
with
$a_{l+1}:=\min \{a\in A(x): a>\max J_l(x) \}$
, we get
$X_{l+1}$
with
$\nu (X_{l+1})=1$
and
$J_{l+1}(x)$
, PSI with
$\min J_{l+1}(x)=a_{l+1}$
. Take
$X':=\bigcap _{l\geq 0}X_l$
. Then,
$\nu (X')=1$
and for all
$x\in X'$
, there exists a collection of finite right maximal PSIs
$\mathcal {E}(x):=\{ J_l=J_l(x) \}_{l\in \mathbb {N^+}}$
.
Fix
$x\in X'$
. We choose the initial position
$a_{l+1}$
to be
$ \min \{ a\in A: a>\max J_l \}$
. So, by Lemma 2.5, each
$J, J'\in \mathcal {E}(x)$
are disjoint. Thus, we may assume
$\max J_l<\min J_{l+1}$
for all
$l\in \mathbb {N}$
. In particular, given
$x\in X'$
, and
$J, J'\in \mathcal {E}(x)$
, J and
$J'$
cannot be nested. Moreover, for all
$J\in \mathcal {E}(x)$
, by Lemma 2.6,
Remember that each
$J\in \mathcal {E}(x)$
is a PSI, which is a collection of shadowing intervals. For each
$x\in X'$
, define
that is,
$\mathcal {S}(x)$
consists of shadowing intervals in some
$J\in \mathcal {E}(x)$
with length greater than L.
Step 2: The ‘tail’ interval. For the sake of simplicity, we first introduce some notation. Abbreviate
$\overline {J}:=\operatorname {supp} J$
for
$J\in \mathcal {E}(x)$
. For all
$n\in \mathbb {N}^+$
, let
$l_n$
be the maximal integer such that
$\min \overline {J}_{l_n}<n$
.
Claim that if we define
then
$b_n-a_n=o(n)$
. To prove the claim, we use Lemma 2.9.
Define
We check that
$a_n, b_n$
, and
$\Psi $
satisfy all the hypotheses of Lemma 2.9. First, we check that
$\int \Psi \,d\nu \neq 0$
. By definition,
The first inequality follows from the fact that
$\unicode{x3bb} (f)\geq \log |f'x|$
for all
$x\in X$
. The last inequality follows from our assumption that
$\unicode{x3bb} (\nu )=\int \log |f'|\,d\nu>0$
and our choice of
$\delta $
being small.
When
$n\notin \overline {J}_{l_n}$
, then
$a_n=b_n=n$
and
$\sum _{i=a_n}^{b_n-1}\Psi (x_i)=0$
. Assume
$n\in \overline {J}_{l_n}$
. Remember that by definition,
$J_{l_n}$
is a right maximal PSI. Thus,
$G^{J_{l_n}}(\max \overline {J}_{l_n}+1)\geq 1$
, which implies
that is,
$\sum _{j=a_n}^{b_n-1}\Psi (x_j)\leq \unicode{x3bb} (f)$
. The last equality follows from Lemma 2.3:
$b_n=\max \overline {J}_{l_n}+1\notin A$
, so
$\log \Psi (x_{b_n})=\unicode{x3bb} (f)$
.
Meanwhile, since
$J_{l_n}$
is a PSI,
$G^{J_{l_n}}(\max \overline {J}_{l_n})\leq 1$
. So,
$\sum _{j=a_n}^{b_n-1}\Psi (x_j)\geq 0$
. So,
$a_n$
,
$b_n$
, and
$\Psi $
satisfy all the requirements of Lemma 2.9.
Step 3: Verifying the properties in Theorem 2.1.
(1) Since elements in
$\mathcal {S}(x)$
are constructed in Proposition 2.8 by visits to critical points, the map
$x\mapsto \mathcal {S}(x)$
is naturally measurable.
(2) Note that since elements in
$\mathcal {E}(x)$
are finite, pairwise disjoint, so will elements be in
$\mathcal {S}(x)$
. Moreover, by construction, elements in
$\mathcal {S}(x)$
are naturally shadowing intervals.
(3) Let
Note that
$\psi (x)\geq 0$
and
$\psi (x_j)>0$
if and only if
$j\in \bigcup \mathcal {E}(x)$
. In particular,
Thus,
$\sum _{i=1}^{l_n-1} |\overline {J}_i|=\sum _{i=0}^{n-1} \psi (x_i)+o(n)$
, by Step 2.
Now,
Thus, by our choice of
$\delta $
,
The proof is concluded.
3 The entropy gap
3.1 Conditions for entropy gap
In this section, we summarize our previous construction and deduce an entropy gap.
Let X be a compact metric space and
$f:X\rightarrow X$
be a continuous map, with
$h_{\mathrm {{top}}}(f)>0$
. Fix
$\varepsilon>0$
.
A system of coverings is a family
$\{ X_I \}$
where
$I=[a,b[\ \subseteq \mathbb {N}$
ranges over integer intervals and each
$X_I\subseteq X$
is a finite set. The entropy of this system
$\{ X_I \}$
is defined as
Take a measurable function
$\varphi =\varphi _{L}: X\rightarrow \mathbb {N}\cup \{ \infty \}$
. We say that a subset
$X'\subseteq X$
admits a partial shadowing by the system of covering
$\{X_I\}$
, with minimum length L, controlled by
$\varphi $
, if for all
$x\in X'$
, there is a collection of disjoint integer intervals, denoted by
$\mathcal {E}(x)=\mathcal {E}_{L}(x)$
, such that:
-
(1) each $I\in \mathcal {E}(x)$
is finite, with
$|I|\geq L$
; -
(2) for each $I=[a,b[\ \in \mathcal {E}(x)$
, there exists
$z\in X_{I}$
such that
$x_a\in B(z,\varepsilon ,|I|)$
; -
(3) the map $x\mapsto \mathcal {E}(x)$
is measurable on X: for each collection of subsets J,
$\mathcal {E}^J_n(x):=\{ x\in X': \{ x\in X': \{I\cap [0,n[\ : I \in \mathcal {E}(x)\}=J \} \}$
is measurable; -
(4) for all $x\in X'$
, $$ \begin{align*} \liminf_{n\rightarrow \infty}\dfrac{1}{n} \bigg(\!\sum_{I\in \mathcal{E}_n(x)}|I|-\bigg(1-\dfrac{1}{L}\bigg)\sum_{i=0}^{n-1}\varphi (x_i)\bigg)\geq 0, \end{align*} $$where $\mathcal {E}_n(x):=\{ I\cap [0,n[: I\in \mathcal {E}(x) \}$
.
We now state and prove an entropy gap given by partial shadowing. Before that, we recall some notation.
To begin with, we state and prove a lemma concerning combinatorics of subintervals inside
$[0,n[$
. This is the reason we take subintervals of length greater than L in the definition of partial shadowings.
Definition 8. Given
$L\in \mathbb {N}^{+}$
, for all
$n\in \mathbb {N}$
, denote by
Call the elements in
$\mathcal {T}_{L}(n)$
the combinatorical types in
$[0,n[$
.
Lemma 3.1. Denote
$H(t):=t\cdot \log ({1}/{t})+(1-t)\cdot \log ({1}/({1-t}))$
for
$t\in (0,1)$
. Then, for all
$L\geq 4$
,
Proof. Note that
$H(t)$
is a function defined on
$(0,1)$
, increasing from
$0$
to
$\tfrac 12$
and decreasing from
$\tfrac 12$
to
$1$
.
By definition, every finite collection in
$\mathcal {T}_L(n)$
consists of disjoint intervals in
$[0,n[$
of lengths at least L. Thus, there can be at most
$\llcorner {n}/{L} \lrcorner $
such intervals maximal in the union. These give
many possible types. By assumption,
$ ({1}/{L})<\tfrac 14$
. Thus, each
$\binom {n}{2i}\leq \binom {n}{2\llcorner {n}/{L} \lrcorner }$
and
using de Moivre’s approximation.
From the definition of topological entropy, we see the following lemma.
Lemma 3.2. For all
$\gamma>0$
,
$\varepsilon>0$
, there exists
$C_{\gamma ,\varepsilon }>0$
such that for all
$n\in \mathbb {N}^{+}$
,
Lemma 3.3. If
$N=\sum n_i$
, where N,
$n_i\in \mathbb {N}^{+}$
, then
Proof. Simply note that given a
$(({\varepsilon }/{2}),n)$
-Bowen ball
$B(z,n,({\varepsilon }/{2}))$
of
$f^m X$
and a covering
$\mathcal {B}$
of X by
$(({\varepsilon }/{2}),m)$
-Bowen balls, each intersection
$f^{-m} B(z,n,({\varepsilon }/{2}))\cap B$
with
$B\in \mathcal {B}$
is contained in a
$(\varepsilon ,m+n)$
-Bowen ball.
Theorem 3.4. Let
$f:X\rightarrow X$
be a continuous map over a compact metric space.
Given
$\varepsilon>0$
,
$0<\gamma <\tfrac 12$
,
$L\in \mathbb {N}_{+}$
, assume there exists a partial shadowing
$(X',\varepsilon ,L,\varphi $
,
$\{ X_I \},\mathcal {E}(x))$
. For all
$\nu \in \mathbb {P}_{\mathrm {erg}}(f)$
, if
$\nu (X')>0$
, then
where
$K=K(\varepsilon ,\gamma ,L)$
, and for all
$\varepsilon ,\gamma>0$
,
Proof. Given
$\varepsilon , \gamma $
, let
$(X',\varepsilon ,L,\varphi , \{ X_I \}, \mathcal {E}(x))$
be a partial shadowing on
$(X,f)$
. Take
$C:=C_{\gamma , \varepsilon }$
as in Lemma 3.2 such that
Since we have defined
$h(\{ X_I \}):=\limsup _{n\rightarrow \infty }\max _{|I|=n}({1}/{n})\log |X^{\varepsilon }_I|$
, for
$\gamma>0$
given, there exists
$D=D_{\gamma }$
such that for all
$n\in \mathbb {N}^+$
,
Take one
$\nu \in \mathbb {P}_{\mathrm {erg}}(f)$
.
Step 1: Finding a suitable Borel subset. By definition of a partial shadowing, the function
$\varphi $
is strictly positive on X. So, there exists a Borel subset
$Z\subseteq X'$
such that
$\nu (Z)=\nu (X')$
and for all
$x\in Z$
,
We then subdivide Z into smaller pieces. Define the n-combinatorical types of
$\mathcal {E}(x)$
to be
Note that
$T(\mathcal {E}(x),n)\in \mathcal {T}_L(n)$
by the zeroth assumption on partial shadowing. For a given type
$T\in \mathcal {T}_L(n)$
, let
By the second assumption on partial shadowing,
$Z^T$
is a measurable subset of X. By Lemma 3.1,
Thus, for all
$n\in \mathbb {N}^+$
,
Step 2: Entropy estimate. By construction, given each
$Z^T$
, the combinatorical type for
$x\in Z^T$
is a fixed union of disjoint intervals
$\mathcal {E}_n(x)=T$
. Denote by
$T^c$
the collection of integer intervals which are complements of those in T.
Note that
Meanwhile, by our definition of Z and Lemma 3.3, for all
$n\in \mathbb {N}^+$
,
Since each
$[a,a'[$
is part of the system of covering,
$r(f,a-a',{\varepsilon _0}/{2},f^a Z^T_k)\leq \max _{|I|=n}|X_I|$
, as
$f^a Z^T$
could be covered by a union of
$(a'-a,\varepsilon )$
-Bowen balls. Thus, we may apply Lemma 3.2 to see that
where
for all
$x\in Z^T$
.
Note that, by our assumption (4) and assumption (1), for all
$x\in Z^T$
,
$T=\mathcal {E}_n(x)$
and
Thus,
Just let
With Lemma 3.1, one verifies easily that
$K(\varepsilon ,\gamma ,L)\rightarrow 0$
when
$\varepsilon $
and
$\gamma $
are fixed, and
$L\rightarrow \infty $
.
3.2 Proof of the main theorem
Now, we use Theorem 3.4 to prove the main theorem, Theorem 1.3.
Proof. First, fix
$\gamma _0>0$
.
Then, take
$\varepsilon _0$
small, so that
$h(f,\nu ,\varepsilon _0)<h(f,\nu )+\gamma _0$
for all
$\nu \in \mathbb {P}_{\mathrm {{erg}}}(f)$
. This is possible since
$C(f)$
is a finite set and f is
$C^{\infty }$
. Third, note that by Theorem 3.4, with
$\varepsilon _0, \gamma _0$
fixed,
Thus, we may take
$L_0$
large so that
$K(\varepsilon _0,\gamma _0,L_0)<\gamma _0$
and
$({1}/{L_0})<\gamma _0$
.
By assumption,
$\alpha :=\lim _{\delta \to 0}\limsup _{k\to \infty }\int _{\{ |f'|<\delta \}} -\!\log |f'|\,d\mu _k>0$
. So, we may take
$\delta _0>0$
and take a subsequence if necessary, so that for all
$k\in \mathbb {N}_{+}$
,
Finally, shrink
$\delta _0$
, so that we get the sequence
$\mathcal {S}(x)$
as in Theorem 2.1 for
$([0,1],f,\varepsilon _0,L_0)$
. Then, define
Take one
$\mu _k$
. We check that the
$\mathcal {S}(x)$
satisfies all the conditions for being partially shadowing. Take
$X'$
to be the subset such that:
-
(1) $\mu _k(X')>\tfrac 12$
; -
(2) $|\mathcal {S}(x)\cap [0,n[|\geq (1-({1}/{L_0}))\sum _{i=0}^{n-1}\varphi _0(x_i)-g_{n}(x)$
.
The existence of
$X'$
is guaranteed by Theorem 2.1.
For each I, integer interval, define
$ X_I $
to be
$C(f)$
. In this case,
$h(\{X_I\})=0$
. We now verify that
$(X',\varepsilon _0,L_0,\varphi _0,C(f),\mathcal {S}(x))$
really gives a partial shadowing for
$(f,\mu _k)$
.
-
(1) By construction, for all $I\in \mathcal {S}(x)$
,
$|I|\geq L_0$
. -
(2) By construction, $I=[a,b[\ \in \mathcal {S}(x)$
is
$\varepsilon $
-shadowing, so
$x_a\in B(c,\varepsilon ,|I|)$
for some
$c\in C(f)$
. -
(3) This is obvious, as I is characterized by visiting to $\{ |f'x|<\delta _0 \}$
. -
(4) This is property (3) of Theorem 2.1.
Now, apply Theorem 3.4 to
$(X',f,\varepsilon _0.L_0,\varphi _0,\mu _k)$
. We get
So,
As the choice of
$\gamma _0$
is arbitrary, we get the main theorem.
Acknowledgements
H.L. is supported by the Chinese Scholarship Consul and the Hadamard Doctoral School of Mathematics.