In the previous lecture, we established single recurrence properties for both open sets and for sequences inside a topological dynamical system . In this lecture, we generalise these results to multiple recurrence. More precisely, we shall show
Theorem 1. (Multiple recurrence in open covers) Let be a topological dynamical system, and let be an open cover of X. Then there exists such that for every , we have for infinitely many r.
Note that this theorem includes Theorem 1 from the previous lecture as the special case . This theorem is also equivalent to the following well-known combinatorial result:
Theorem 2. (van der Waerden’s theorem) Suppose the integers are finitely coloured. Then one of the colour classes contains arbitrarily long arithmetic progressions.
Exercise 1. Show that Theorem 1 and Theorem 2 are equivalent.
Exercise 2. Show that Theorem 2 fails if “arbitrarily long” is replaced by “infinitely long”. Deduce that a similar strengthening of Theorem 1 also fails.
Exercise 3. Use Theorem 2 to deduce a finitary version: given any positive integers m and k, there exists an integer N such that whenever is coloured into m colour classes, one of the colour classes contains an arithmetic progression of length k. (Hint: use a “compactness and contradiction” argument, as in my article on hard and soft analysis.)
We also have a stronger version of Theorem 1:
Theorem 3. (Multiple Birkhoff recurrence theorem) Let be a topological dynamical system. Then for any there exists a point and a sequence of integers such that as for all .
These results already have some application to equidistribution of explicit sequences. Here is a simple example (which is also a consequence of Weyl’s equidistribution theorem):
Corollary 1. Let be a real number. Then there exists a sequence of integers such that as .
Proof. Consider the skew shift system with . By Theorem 3, there exists and a sequence such that and both convege to . If we then use the easily verified identity
we obtain the claim.
Exercise 4. Use Theorem 1 or Theorem 2 in place of Theorem 3 to give an alternate derivation of Corollary 1.
As in the previous lecture, we will give both a traditional topological proof and an ultrafilter-based proof of Theorem 1 and Theorem 3; the reader is invited to see how the various proofs are ultimately equivalent to each other.
– Topological proof of van der Waerden –
We begin by giving a topological proof of Theorem 1, due to Furstenberg and Weiss, which is secretly a translation of van der Waerden’s original “colour focusing” combinatorial proof of Theorem 2 into the dynamical setting.
To prove Theorem 1, it suffices to show the following slightly weaker statement:
Theorem 4. Let be a topological dynamical system, and let be an open cover of X. Then for every there exists an open set which contains an arithmetic progression for some and .
To see how Theorem 4 implies Theorem 1, first observe from compactness that we can take the open cover to be a finite cover. Then by the infinite pigeonhole principle, it suffices to establish Theorem 1 for each separately. For each such k, Theorem 4 gives a single arithmetic progression inside one of the . By replacing the system with the product system for some large N and replacing the open cover of X with the open cover of , one can make the spacing r in the arithmetic progression larger than any specified integer N. Thus by another application of the infinite pigeonhole principle, one of the contains arithmetic progressions with arbitrarily large step r, and the claim follows.
Now we need to prove Theorem 4. By Lemma 1 of Lecture 2 to establish this theorem for minimal dynamical systems. We will need to note that for minimal systems, Theorem 4 automatically implies the following stronger-looking statement:
Theorem 5. Let be a minimal topological dynamical system, let U be a non-empty open set in X, and let . Then U contains an arithmetic progression for some and .
Indeed, the deduction of Theorem 5 from Theorem 4 is immediate from the following useful fact (cf. Lemma 1 from Lecture 3):
Lemma 1. Let be a minimal topological dynamical system, and let U be a non-empty open set in X. Then X can be covered by a finite number of translates of U.
Proof. The set is a proper closed invariant subset of X, which must therefore be empty since X is minimal. The claim then follows from the compactness of X. .
(Of course, the claim is highly false for non-minimal systems; consider for instance the case when T is the identity. More generally, if X is non-minimal, consider an open set U which is the complement of a proper subsystem of X.)
Now we need to prove Theorem 4. We do this by induction on k. The case k=1 is trivial, so suppose and the claim has already been shown for k-1. By the above discussion, we see that Theorem 5 is also true for k-1.
Now fix a minimal system and an open cover , which we can take to be finite. We need to show that one of the contains an arithmetic progression of length k.
To do this, we first need an auxiliary construction.
Lemma 2. (Construction of colour focusing sequence) Let the notation and assumptions be as above. Then for any there exists a sequence of points in X, a sequence of sets in the open cover (not necessarily distinct), and a sequence of positive integers such that for all and .
Proof. We induct on J. The case J=0 is trivial. Now suppose inductively that , and that we have already constructed , , and with the required properties. Now let V be a suitably small neighbourhood of (depending on all the above data) to be chosen later. By Theorem 5 for k-1, V contains an arithmetic progression of length k-1. If one sets , and lets be an arbitrary set in the open cover containing , then we observe that
for all and . If V is a sufficiently small neighbourhood of , we thus see (from the continuity of the that we verify all the required properties needed to close the induction.
We apply the above lemma with J equal to the number of sets in the open cover. By the pigeonhole principle, we can thus find such that . If we then set and we obtain Theorem 4 as required.
It is instructive to compare the k=2 case of the above arguments with the proof of Theorem 1 from the previous lecture. (For a comparison of this type of proof with the more classical combinatorial proof, see my Montreal lecture notes.)
– Ultrafilter proof of van der Waerden –
We now give a translation of the above proof into the language of ultrafilters (or more precisely, the language of Stone-Čech compactifications). This language may look a little strange, but it will be convenient when we study more general colouring theorems in the next lecture. As before, we will prove Theorem 4 instead of Theorem 1 (thus we only need to find one progression, rather than infinitely many). The key proposition is
Proposition 1. (Ultrafilter version of van der Waerden) Let be a minimal element of . Then for any there exists such that. (3)
Suppose for the moment that this proposition is true. Applying it with some minimal element p of (which must exist, thanks to Exercise 10 of the previous lecture), we obtain obeying (3). If we let for some arbitrary , we thus obtain
If we let be an element of the open cover that contains x, we thus see that for all and all which lie in a sufficiently small neighbourhood of q. Since a LCH space is always dense in its Stone-Čech compactification, the space of all (n,r) with this property is non-empty, and Theorem 4 follows.
Proof of Proposition 1. We induct on k. The case k=1 is trivial (one could take e.g. , so suppose and that the claim has already been proven for k-1. Then we can find such that
for all .
Now consider the expression
for any and , where
Applying (5) to the limit in (6), we obtain the recursion for all . Iterating this, we conclude that
for all . For i=0, (8) need not hold, but instead we have the easily verified identity
Now let be a non-principal ultrafilter and define . Observe from (6) that all the lie in the closed set , and so p’ does also. Since p is minimal, there must exist such that p = p” + p’. Expanding this out using (8) or (8′), we conclude that
for all . Applying (6), we conclude
where and . Now, define to be the limit
then we obtain Proposition 1 as desired.
Exercise 5. Strengthen Proposition 1 by adding the additional conclusion . Using this stronger version, deduce Theorem 1 directly without using the trick of multiplying X with a cyclic shift system that was used to deduce Theorem 1 from Theorem 4.
Theorem 1 can be generalised to multiple commuting shifts:
Theorem 6. (Multiple recurrence in open covers) Let be a compact topological space, and let be commuting homeomorphisms. Let be an open cover of X. Then there exists such that for infinitely many r.
Exercise 6. By adapting one of the above arguments, prove Theorem 6.
Exercise 7. Use Theorem 6 to establish the following the multidimensional van der Waerden theorem (due to Gallai): if a lattice is finitely coloured, and , then one of the colour classes contains a pattern of the form for some and some non-zero r.
Exercise 8. Show that Theorem 6 can fail, even for and , if the shift maps are not assumed to commute. (Hint: First show that in the free group on two generators , and any word and non-zero integer r, the three words cannot all begin with the same generator after reduction. This can be used to disprove a non-commutative multidimensional van der Waerden theorem, which can turn be used to disprove a non-commutative version of Theorem 6.)
– Proof of multiple Birkhoff –
We now use van der Waerden’s theorem and an additional Baire category argument to deduce Theorem 3 from Theorem 1. The key new ingredient is
Lemma 3. (Semicontinuous functions are usually continuous) Let be a metric space, and let be semicontinuous. Then the set of points x where F is discontinuous is a set of the first category (i.e. a countable union of nowhere dense sets). In particular, by the Baire category theorem, if X is complete and non-empty, then F is continuous at at least one point.
Proof. Without loss of generality we can take F to be upper semicontinuous. Suppose F is discontinuous at some point x. Then, by upper continuity, there exists a rational number q such that
In other words, x lies in the boundary of the closed set . But boundaries of closed sets are always nowhere dense, and the claim follows.
Now we prove Theorem 3. Without loss of generality we can take X to be minimal. Let us place a metric d on the space X. Define the function by the formula
It will suffice to show that F(x)=0 for at least one x (notice that if the infimum is actually attained at zero for some n, then x is a periodic point and the claim is obvious). Suppose for contradiction that F is always positive. Observe that F is upper semicontinuous, and so by Lemma 3 there exists a point of continuity of F. In particular there exists a non-empty open set U such that F is bounded away from zero.
By uniform continuity of , we see that if F is bounded away from zero on U, it is also bounded away from zero on for any n (though the bound from below depends on n). Applying Lemma 1, we conclude that F is bounded away from zero on all of X, thus there exists such that for all . But this contradicts Theorem 1 (or Theorem 4), using the balls of radius as the open cover. This contradiction completes the proof of Theorem 3.
Exercise 9. Generalise Theorem 3 to the case in which T is merely assumed to be continuous, rather than be a homeomorphism. (Hint: let denote the space of all sequences with for all n, with the topology induced from the product space . Use a limiting argument to show that is non-empty. Then turn into a topological dynamical system and apply Theorem 3.)
Exercise 10. Generalise Theorem 3 to multiple commuting shifts (analogously to how Theorem 6 generalises Theorem 1).
Exercise 11. Combine Exercises 9 and 10 by obtaining a generalisation of Theorem 3 to multiple non-invertible commuting shifts.
Exercise 12. Let be a minimal topological dynamical system, and let . Call a point x in X k-fold recurrent if there exists a sequence such that for all . Show that the set of k-fold recurrent points in X is residual (i.e. the complement is of the first category). In particular, the set of k-fold recurrent points is dense.
Exercise 13. In the boolean Bernoulli system , show that the set A consisting of all non-zero integers which are divisible by 2 an even number of times is almost periodic. Conclude that there exists a minimal topological dynamical system such that not every point in X is 3-fold recurrent (in the sense of the previous exercise). (Compare this with the arguments in the previous lecture, which imply that every point in X is 2-fold recurrent.)
Exercise 14. Suppose that a sequence of continuous functions on a metric space converges pointwise everywhere to another function . Show that f is continuous on a residual set.
Exercise 15. Let be a minimal topological dynamical system, and let be a function which is T-invariant, thus Tf = f. Show that if f is continuous at even one point , then it has to be constant. (Hint: is in the orbit closure of every point in X.)
[Update, Jan 15: bad link fixed.]
[Update, Jan 21: Additional exercise added.]
[Update, Jan 26: Another additional exercise added.]
[Update, Mar 4: Slight correction to proof of Proposition 1.]