One-dimensional first return maps for the two-dimensional border-collision normal form with a zero determinant

Abstract

The two-dimensional border-collision normal form is a four-parameter family of continuous, piecewise-linear maps. When this form has a zero determinant, all of its nonlinear dynamics are captured a one-dimensional first return map. The first return map is discontinuous and piecewise-linear, where each piece of the map corresponds to a constant return time. We show that when the normal form has a repelling focus fixed point, the configuration of the first return map is dictated by a rational rotation number whereby the set of return times and ordering of the pieces of the map are given by the denominators of the left and right sequences of Farey parents of this number. The result is proved by characterising polygons formed from preimages of the switching manifold, and employing an inductive argument on the Farey web. Several surfaces in parameter space where the configuration changes are bifurcations from chaotic to quasiperiodic or mode-locked dynamics.