![Sturmian-sequence-from-irrational-rotation](https://upload.wikimedia.org/wikipedia/commons/6/61/Sturmian-sequence-from-irrational-rotation.gif)
In the mathematical theory of
dynamical system
In mathematics, a dynamical system is a system in which a Function (mathematics), function describes the time dependence of a Point (geometry), point in an ambient space. Examples include the mathematical models that describe the swinging of a ...
s, an irrational rotation is a
map
A map is a symbolic depiction emphasizing relationships between elements of some space, such as objects, regions, or themes.
Many maps are static, fixed to paper or some other durable medium, while others are dynamic or interactive. Although ...
:
where ''θ'' is an
irrational number
In mathematics, the irrational numbers (from in- prefix assimilated to ir- (negative prefix, privative) + rational) are all the real numbers that are not rational numbers. That is, irrational numbers cannot be expressed as the ratio of two integ ...
. Under the identification of a
circle
A circle is a shape consisting of all points in a plane that are at a given distance from a given point, the centre. Equivalently, it is the curve traced out by a point that moves in a plane so that its distance from a given point is const ...
with R/Z, or with the interval
, 1
The comma is a punctuation mark that appears in several variants in different languages. It has the same shape as an apostrophe or single closing quotation mark () in many typefaces, but it differs from them in being placed on the baseline (t ...
with the boundary points glued together, this map becomes a
rotation
Rotation, or spin, is the circular movement of an object around a '' central axis''. A two-dimensional rotating object has only one possible central axis and can rotate in either a clockwise or counterclockwise direction. A three-dimensional ...
of a
circle
A circle is a shape consisting of all points in a plane that are at a given distance from a given point, the centre. Equivalently, it is the curve traced out by a point that moves in a plane so that its distance from a given point is const ...
by a proportion ''θ'' of a full revolution (i.e., an angle of 2''πθ'' radians). Since ''θ'' is irrational, the rotation has infinite
order
Order, ORDER or Orders may refer to:
* Categorization, the process in which ideas and objects are recognized, differentiated, and understood
* Heterarchy, a system of organization wherein the elements have the potential to be ranked a number of d ...
in the
circle group
In mathematics, the circle group, denoted by \mathbb T or \mathbb S^1, is the multiplicative group of all complex numbers with absolute value 1, that is, the unit circle in the complex plane or simply the unit complex numbers.
\mathbb T = \ ...
and the map ''T''
''θ'' has no
periodic orbit In mathematics, in the study of iterated functions and dynamical systems, a periodic point of a function is a point which the system returns to after a certain number of function iterations or a certain amount of time.
Iterated functions
Given a ...
s.
Alternatively, we can use multiplicative notation for an irrational rotation by introducing the map
:
The relationship between the additive and multiplicative notations is the group isomorphism
:
.
It can be shown that is an
isometry
In mathematics, an isometry (or congruence, or congruent transformation) is a distance-preserving transformation between metric spaces, usually assumed to be bijective. The word isometry is derived from the Ancient Greek: ἴσος ''isos'' mea ...
.
There is a strong distinction in circle rotations that depends on whether is rational or irrational. Rational rotations are less interesting examples of dynamical systems because if
and
, then
when
* C. E. Silva, ''Invitation to ergodic theory'', Student Mathematical Library, vol 42,