Invariant tori, action-angle variables, and phase space structure of the Rajeev-Ranken model

  title={Invariant tori, action-angle variables, and phase space structure of the Rajeev-Ranken model},
  author={Govind S. Krishnaswami and T. R. Vishnu},
  journal={Journal of Mathematical Physics},
We study the classical Rajeev-Ranken model, a Hamiltonian system with three degrees of freedom describing nonlinear continuous waves in a 1+1-dimensional nilpotent scalar field theory pseudodual to the SU(2) principal chiral model. While it loosely resembles the Neumann and Kirchhoff models, its equations may be viewed as the Euler equations for a centrally extended Euclidean algebra. The model has a Lax pair and r-matrix leading to four generically independent conserved quantities in… 
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