VON NEUMANN STABILITY ANALYSIS OF SYMPLECTIC INTEGRATORS APPLIED TO HAMILTONIAN PDEs

Symplectic integration of separable Hamiltonian ordinary and partial differential equations is discussed. A von Neumann analysis is performed to achieve general linear stability criteria for symplectic methods applied to a restricted class of Hamiltonian PDEs. In this treatment, the symplectic step is performed prior to the spatial step, as opposed to the standard approach of spatially discretising the PDE to form a system of Hamiltonian ODEs to which a symplectic integrator can be applied. In this way stability criteria are achieved by considering the spectra of linearised Hamiltonian PDEs rather than spatial step size.     

Structure preservation of exponentially fitted Runge–Kutta methods

The preservation of some structure properties of the flow of differential systems by numerical exponentially fitted Runge–Kutta (EFRK) methods is considered. A complete characterisation of EFRK methods that preserve linear or quadratic invariants is given and, following the approach of Bochev and Scovel [On quadratic invariants and symplectic structure, BIT 34 (1994) 337–345], the sufficient conditions on symplecticity of EFRK methods derived by Van de Vyver [A fourth-order symplectic exponentially fitted integrator, Comput. Phys. Comm. 174 (2006) 255–262] are obtained. Further, a family of symplectic EFRK two-stage methods with order four has been derived. It includes the symplectic EFRK method proposed by Van de Vyver as well as a collocation method at variable nodes that can be considered as the natural collocation extension of the classical RK Gauss method. Finally, the results of some numerical experiments are presented to compare the relative merits of several fitted and nonfitted fourth-order methods in the integration of oscillatory systems.     

Higher order variational integrators in optimal control theory

Higher order variational integrators are analyzed and applied to optimal control problems posed with mechanical systems. First, we derive two different kinds of high order variational integrators based on different dimensions of the underlying approximation space. While the first well-known integrator is equivalent to a symplectic partitioned Runge-Kutta method, the second integrator, denoted as symplectic Galerkin integrator, yields a method which in general, cannot be written as a standard symplectic Runge-Kutta scheme [1]. Furthermore, we use these integrators for the discretization of optimal control problems. By analyzing the adjoint systems of the optimal control problem and its discretized counterpart, we prove that for these particular integrators optimization and discretization commute [2]. This property guarantees that the accuracy is preserved for the adjoint system which is also referred to as the Covector Mapping Principle. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

A class of symplectic partitioned Runge–Kutta methods

This paper deals with some relevant properties of Runge–Kutta (RK) methods and symplectic partitioned Runge–Kutta (PRK) methods. First, it is shown that the arithmetic mean of a RK method and its adjoint counterpart is symmetric. Second, the symplectic adjoint method is introduced and a simple way to construct symplectic PRK methods via the symplectic adjoint method is provided. Some relevant properties of the adjoint method and the symplectic adjoint method are discussed. Third, a class of symplectic PRK methods are proposed based on Radau IA, Radau IIA and their adjoint methods. The structure of the PRK methods is similar to that of Lobatto IIIA–IIIB pairs and is of block forms. Finally, some examples of symplectic partitioned Runge–Kutta methods are presented.     

Variational integrators for open-loop and closed-loop optimal control of mechanical systems

Mechanical systems have structural properties, e.g. symplecticity, symmetry, and a specific energy behavior, which get lost in standard integration methods. Therefore, symplectic integration methods are used in simulation and control of mechanical systems. This paper combines two methods of the class of structure-preserving control methods, namely a recently developed feedback control method and open loop optimal control based on variational integrator discretization. The combination is applied to the benchmark example of a cart pendulum system. (© 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Symplectic RK Methods and Symplectic PRK Methods with Real Eigenvalues

Properties of symplectic Runge-Kutta (RK) methods and symplectic partitioned Runge-Kutta (PRK) methods with real eigenvalues are discussed in this paper. It is shown that an s stage such method can‘t reach order more than s 1. Particularly, we prove that no symplectic RK method with real eigenvalues exists in stage s of order s 1 when s is even. But an example constructed by using the W-transformation shows that PRK method of this type does not necessarily meet this order barrier. Another useful way other than W-transformation to construct symplectic PRK method with real eigenvalues is then presented. Finally, a class of efficient symplectic methods is recommended.     

关于辛算法稳定性的若干注记

我们讨论辛算法的线性稳定性和非线性稳定性,从动力系统和计算的角度论述了研究辛算法的这两类稳定性问题的重要性,分析总结了相关重要结果.我们给出了解析方法的明确定义,证明了稳定函数是亚纯函数的解析辛方法是绝对线性稳定的.绝对线性稳定的辛方法既有解析方法（如Runge-Kutta辛方法）,也有非解析方法（如基于常数变易公式对线性部分进行指数积分而对非线性部分使用其它数值积分的方法）.我们特别回顾并讨论了R.I.McLachlan,S.K.Gray和S.Blanes,F.Casas,A.Murua等关于分裂算法的线性稳定性结果,如通过选取适当的稳定多项式函数构造具有最优线性稳定性的任意高阶分裂辛算法和高效共轭校正辛算法,这类经优化后的方法应用于诸如高振荡系统和波动方程等线性方程或者线性主导的弱非线性方程具有良好的数值稳定性.我们通过分析辛算法在保持椭圆平衡点的稳定性,能量面的指数长时间慢扩散和KAM不变环面的保持等三个方面阐述了辛算法的非线性稳定性,总结了相关已有结果.最后在向后误差分析基础上,基于一个自由度的非线性振子和同宿轨分析法讨论了辛算法的非线性稳定性,提出了一个新的非线性稳定性概念,目的是为辛算法提供一个实际可用的非线性稳定性判别法.     

用摄动配置方法求解含时薛定谔方程

将摄动配置方法应用到含时薛定谔方程,在计算实现的基础上结合摄动配置的特征提出了一类新的数值积分方法,并给出了一个2级2阶和一个3级4阶的辛摄动配置方法对含时薛定谔方程的数值算例.为了检验新的数值积分方法,我们还给出了与两个辛摄动配置格式在理论上等价的辛龙格-库塔方法以及同阶的非辛方法的数值模拟.展示了一些数值结果,并给出了一些分析.     

A SIMPLE WAY CONSTRUCTING SYMPLECTICRUNGE-KUTTA METHODS

1.IntroductionandPreliminariesLetfibeademainintheorientedEuclideanspaceRZdofpoint(p,q)~((PI,...5pd)",(ql,'5qd)").IfH(P,q)isasufficientlysmoothrealfunctiondefinedinfi,thentheHamiltoniansystemofdifferentialequationswithHamiltonianH(P,q)isgivenbydpiOHdqiOH~~~~~:fi(p,q),}qi~OH~.dtoqidtOPtTheintegerdiscalledthenumberofdegreesoffreedomandfiisthephasespace.HereweassumethatallHamiltoniansconsideredareautonomous,i.e.,time--independent.Definition1.1.Aone-stepmethodiscalledsymplecticif,asappl…     

Lie Group Spectral Variational Integrators

We present a new class of high-order variational integrators on Lie groups. We show that these integrators are symplectic and momentum-preserving, can be constructed to be of arbitrarily high order, or can be made to converge geometrically. Furthermore, these methods are capable of taking very large time-steps. We demonstrate the construction of one such variational integrator for the rigid body and discuss how this construction could be generalized to other related Lie group problems. We close with several numerical examples which demonstrate our claims and discuss further extensions of our work.     

传递辛矩阵群收敛于辛Lie群

通过作用量变分原理,给出了Hamilton正则方程离散积分的传递辛矩阵表示,利用Hamilton正则方程给出了其对应的Lie代数．说明了当时间区段长度趋近于0时,离散系统积分的传递辛矩阵群收敛于连续时间Hamilton系统微分方程分析积分得到的辛Lie群．     

A sixth-order dual preserving algorithm for the Camassa-Holm equation

The paper presents a sixth-order numerical algorithm for studying the completely integrable Camassa-Holm (CH) equation. The proposed sixth-order accurate method preserves both the dispersion relation and the Hamiltonians of the CH equation. The CH equation in this study is written as an evolution equation, involving only the first-order spatial derivatives, coupled with the Helmholtz equation. We propose a two-step method that first solves the evolution equation by a sixth-order symplectic Runge-Kutta method and then solves the Helmholtz equation using a three-point sixth-order compact scheme. The first-order derivative terms in the first step are approximated by a sixth-order dispersion-relation-preserving scheme that preserves the physically inherent dispersive nature. The compact Helmholtz solver, on the other hand, allows us to use relatively few nodal points in a stencil, while achieving a higher-order accuracy. The sixth-order symplectic Runge-Kutta time integrator is preferable for an equation that possesses a Hamiltonian structure. We illustrate the ability of the proposed scheme by examining examples involving peakon or peakon-like solutions. We compare the computed solutions with exact solutions or asymptotic predictions. We also demonstrate the ability of the symplectic time integrator to preserve the Hamiltonians. Finally, via a smooth travelling wave problem, we compare the accuracy, elapsed computing time, and rate of convergence among the proposed method, a second-order two-step algorithm, and a completely integrable particle method.     

Tensor invariants in numerical geometric integration of ODEs

We consider geometric numerical integration (GI) of ordinary differential equations (ODEs). We propose that in GI one needs concepts which are both geometric and algebraic. In this paper we start from an algebraic point of view: we introduce tensor invariants attached to an ODE as well as to an integrator. The notion of “sharing a tensor invariant” generalizes the well known notion of conserving a symplectic structure by an integrator. Several examples are given.     

Energy-Preserving Integrators and the Structure of B-series

B-series are a powerful tool in the analysis of Runge–Kutta numerical integrators and some of their generalizations (“B-series methods”). A general goal is to understand what structure-preservation can be achieved with B-series and to design practical numerical methods that preserve such structures. B-series of Hamiltonian vector fields have a rich algebraic structure that arises naturally in the study of symplectic or energy-preserving B-series methods and is developed in detail here. We study the linear subspaces of energy-preserving and Hamiltonian modified vector fields which admit a B-series, their finite-dimensional truncations, and their annihilators. We characterize the manifolds of B-series that are conjugate to Hamiltonian and conjugate to energy-preserving and describe the relationships of all these spaces.     

An Algebraic Approach to Invariant Preserving Integators: The Case of Quadratic and Hamiltonian Invariants

In this article, conditions for the preservation of quadratic and Hamiltonian invariants by numerical methods which can be written as B-series are derived in a purely algebraical way. The existence of a modified invariant is also investigated and turns out to be equivalent, up to a conjugation, to the preservation of the exact invariant. A striking corollary is that a symplectic method is formally conjugate to a method that preserves the Hamitonian exactly. Another surprising consequence is that the underlying one-step method of a symmetric multistep scheme is formally conjugate to a symplectic P-series when applied to Newton’s equations of motion.     

哈密尔顿系统的有限元法

利用常微分方程的连续有限元法,结合函数的M-型展开,对非线性哈密尔顿系统证明了连续一、二次有限元分在3阶量、5阶量意义下近似保辛,且保持能量守恒.在数值实验中结合庞加莱截面,哈密尔顿混沌数值试验结果与理论相吻合.     

G-symplecticity implies conjugate-symplecticity of the underlying one-step method

This note proves that the underlying one-step method of a G-symplectic general linear method is conjugate to a symplectic method. Parasitic solution components are not considered.     

Symplectic Runge-Kutta methods of high order based on W-transformation

In this paper , characterizations of symmetric and symplectic Runge-Kutta methods based on the W-transformation of Hairer and Wanner are presented. Using these characterizations, we construct two families symplectic (symmetric and algebraically stable or algebraically stable) Runge-Kutta methods of high order. Methods constructed in this way and presented in this paper include and extend the known classes of high order implicit Runge-Kutta methods.     

Variational multirate integration of constrained dynamics

Mechanical systems with dynamics on varying time scales, in particular those including highly oscillatory motion, impose challenging questions for numerical integration schemes. Tiny step sizes are required to guarantee a stable integration of the fast frequencies. However, for the simulation of the slow dynamics, integration with a larger time step is accurate enough. Small time steps increase integration times unnecessarily, especially for costly function evaluations. For systems comprising fast and slow dynamics, multirate methods integrate the slow part of the system with a relatively large step size while the fast part is integrated with a small time step. Main challenges are the identification of fast and slow parts (e.g. by separating the energy or by distinguishing sets of variables), the synchronisation of their dynamics and in particular the treatment of mixed parts that often appear when fast and slow dynamics are coupled by constraints. In this contribution, a multirate integrator is derived in closed form via a discrete variational principle on a time grid consisting of macro and micro time nodes. Variational integrators (based on a discrete version of Hamilton's principle) lead to symplectic and momentum preserving integration schemes that also exhibit good energy behavior. The resulting multirate variational integrator has the same preservation properties. An example demonstrates the performance of the multirate integrator for constrained multibody dynamics. (© 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)