Nonlinear Waves

Roger Grimshaw, Gennady El, Karima Khusnutdinova

Lecture 10
Sine-Gordon Equation

February 24, 2010

Lecture 10: Sine-Gordon equation

by Karima Khusnutdinova
Introduction
The sine-Gordon (SG) equation
tt xx = sin

(1)

has many applications:

I

it appeared in 19th century in the differential geometry of surfaces

with constant negative Gaussian curvature (Bour 1862, Bianchi,
Enneper)

as a model of dislocations in a crystal (Frenkel and Kontorova, 1939)

as a model for elementary particles (Perring and Skyrme, 1962)

as a model of transverse electromagnetic waves on a

superconducting strip-line transmission system (long Josephson
junctions, Scott and Johnson, 1969)

etc.

The equation is integrable by the Inverse Scattering Transform (IST)

(Takhtajan and Faddeev, AKNS 1974).

10.1 Sine-Gordon equation: Backlund Transformations

and integrability
The SG equation (1) can be written in the characteristic form
= sin ,

where

x t
x +t
, =
.
2
2

Then, it appears as a compatibility condition of the following (AKNS)

linear problem:
1 = i1
2 = i2 +

2 ,
2

1 ;
2

and

i
[cos 1 + sin 2 ],
4
i
=
[sin 1 cos 2 ];
4

(2)

1 =
2

providing the basis for the IST.

(3)

10.1 Sine-Gordon equation: Backlund Transformations

and integrability
Backlund transformations (BT) for the SG equation were devised in
1880s in differential geometry and are attributed to Bianchi and
Backlund. They have the form:

1
= sin ,
( + )
2
2

1
= sin + ,
( )
(4)
2

2
where both and are solutions of the SG equation (1), and can be
viewed as a transformation of the SG equation into itself. BT allow one
to construct hierarchies of solutions, starting from some simple known
solutions. Are there any other Klein-Gordon equations = F (),
admitting Backlund transformation of the form:

1
= f ( ),
( + )
(5)
2
2

1
= g( + ) ?
( )
(6)
2
2

10.1 Sine-Gordon equation: Backlund Transformations

and integrability
Differentiating (5) with respect to and (6) with respect to , we obtain

1
= f 0 ( )g ( + ),
( + )
2
2
2

1
= g 0 ( + )f ( ),
( )
2
2
2

(7)
(8)

which implies

+
+

)g (
) + g 0(
)f (
), (9)
2
2
2
2

= f 0 ( )g ( + ) g 0 ( + )f ( ). (10)
= F ()
2
2
2
2

Introducing functions v = ( + )/2 and w = ( )/2, we rewrite the

previous equations as
= F () = f 0 (

F (v + w ) = g (v )f 0 (w ) + g 0 (v )f (w ),
0

F (v w ) = g (v )f (w ) g (v )f (w ).

(11)
(12)

10.1 Sine-Gordon equation: Backlund Transformations

and integrability
Differentiating either of these equations with respect to v and then w ,
and either adding or subtracting the results, we obtain
f 00 (w )
g 00 (v )
=
= = const.
g (v )
f (w )
Thus,
g 00 = g ,

f 00 = f ,

and can be assumed to be 1, 0, 1. For = 1 we find

g (v ) = sin v ,

f (w ) = sin w .

(13)

Substituting (13) into (11) and (12), we obtain F () = sin for

= 1 , giving us the BT for the sine-Gordon equation. The choice of
= 1 yields the sinh-Gordon equation, = 0 - the linear Klein-Gordon
equation. Thus, the SG equation is a very special equation (existence of
the BT for it is related to the integrability of this equation by the IST).

10.1 Sine-Gordon equation: Backlund Transformations

and integrability
Derivation of BTs from AKNS problem?
(Following H-H Chen, Phys. Rev. Lett. 33 (1974) 925-928)
I

1
Having AKNS problem for 1 and 2 , introduce G =
and derive
2
equations for G and G (turn out to be Riccati equations).

Eliminating (solution of the SG equation) from these equations,

one can obtain an equation for G only.

This equation turns out to be invariant under the transformation

(G , ) (G , ), indicating that there is another solution of
the SG equation, related to (G , ). This gives a second pair of

equations for G and G , containing .

can be derived from the two pairs of

BTs (relating and )
equations for G and G .

10.2 Symmetries of the SG equation

In the following we use the following continuous and discrete symmetries,
admitted by the SG equation (1):
t t + t0 ,

x x,

(shift in t),

t t,

x x + x0 ,

(shift in x),

t t,

x x,

+ 2n,

n is any integer,

(discrete shifts in ),
t t,
t t,
t t,

x x,

(reflection in t),

x x, (reflection in x),
x x, (reflection in ),

t cx
x ct
t
, x
,
1 c2
1 c2
(Lorenz transformation).

For example, if is a solution, then is a solution as well, etc.

10.3 Backlund Transformations: Kink and Antikink

Given a solution 0 of the SG equation, BT (4) allows one to find a
2-parameter family of solutions. Consider the trivial solution = 0.
Substituting it into (4), we obtain

= 2 sin ,
2

= sin .

Integrating,
Z

2 =

d
sin

2
=

d
sin

= 2 ln (tan

) + p(),
4

= 2 ln (tan

) + q().
4

Therefore, tan 4 = exp (a + 1a + ), where a = , = const.

Thus, the trivial solution = 0 has generated a new solution:
1
1 = = 4 tan1 exp(a + + ).
a

(14)

10.3 Backlund Transformations: Kink and Antikink

Reverting to t and x:


x vt
1

1 = = 4 tan exp
+ ,
1 v2
where v =

1a2
1+a2 ,

= 1 (we can assume = 0, up to shifts in x, t).

= 1 HkinkL, v = 0.5, t = 0

= -1 HantikinkL, v = 0.5, t = 0

j1 3

j1 3

0
-10

-5

0
x

10

0
-10

-5

0
x

10

Figure: Kink and antikink for v = 0.5 at t = 0.

Remarks. Note that derivatives of these solutions are hump-shaped, like

a solitary wave.
Also note that 2n, where n is an integer can be added to any solution of
the SG equation due to invariance of the equation with respect to this
transformation.

10.4 Addition theorem

Now we can again use the BT (4), so that 1 generates a new solution
2 . To do this, put = 1 into the BT (4), and integrate to find a new
solution. This new solution can then also be used to find another
solution, etc. However, the direct integration is not easy, and the actual
way to use the BTs for finding new solutions is based on the fact that
BTs commute, which is shown on the diagram below.

Figure: http://homepages.tversu.ru/s000154/collision/main.html

Remark. To be precise, BTs can be made commutative by adjusting the

integration constants (e.g., McLaughlin and Scott 1973, Seeger et al.
1953).

10.4 Addition theorem

Let us take a sequence of pairs (0 , 11 ), (11 , 2 ), (0 , 21 ), (21 , 2 ).
Then, we have the following BTs (follow the diagram):
1
(0 + 11 )
2
1
(0 11 )
2

1
(0 + 21 )
2
1
(0 21 )
2

0 11
,
2
1
0 + 11
=
sin
;
1
2
11 2
1
(11 + 2 ) = 2 sin
,
2
2
1
1
11 + 2
(11 2 ) =
sin
;
2
2
2
0 21
= 2 sin
,
2
1
0 + 21
=
sin
;
2
2
1
21 2
(21 + 2 ) = 1 sin
,
2
2
1
1
21 + 2
(21 2 ) =
sin
.
2
1
2
= 1 sin

(15)
(16)
(17)
(18)
(19)
(20)
(21)
(22)

10.4 Addition theorem

Taking (15) - (17) - (19) + (21) and using the trigonometric formula

sin + sin = 2 sin +

2 cos 2 , one can obtain
1 sin

0 11 + 21 2
0 + 11 21 2
= 2 sin
,
4
4

which yields, by using sin( ) = sin cos sin cos with

= 0 2 and = 21 11 ,
tan

0 2
2 + 1
21 11
=
.
tan
4
2 1
4

(23)

The same formula follows from the second group of equations, (16),
(18), (20) and (22).
The relation (23) is called the addition theorem for the Backlund
transformations. This relation allows one to obtain new solution 2
algebraically, from the known solutions 0 , 11 , 21 , without any
integration. Repeatedly applying this theorem, one can obtain
successively new solutions by means of purely algebraic manipulations.

10.5 Two-wave interactions (kink-kink, kink-antikink, etc.)

Let 0 = 0. Then 11 and 21 are (solutions are parametrized by
ai = i ):
 2

ai + 1
1 ai2
1
i1 = 4 tan exp i (+2ni ), i =
(x
t) + i
2ai
1 + ai2
Using the addition theorem (23) and the formula
tan tan
tan( ) = 1+tan
tan , we find the two-soliton solution:
2 = 4 tan


a1 + a2 e 2 e 1

.
a1 a2 1 + e 1 +2

Choosing different values of parameters a1 and a2 , one can obtain

solutions describing various interaction scenarios (kink-kink,
kink-antikink, etc.)

(24)

10.5 Two-wave interactions (kink-kink, kink-antikink, etc.)

Example 1 (worked example in the lecture). The symmetric kink-kink
solution (head-on collision, same velocities) is obtained when
a2 = 1/a1 , a1 > 0 and 1 = 2 = 0. It can be written as
"
#
x
v sinh 1v
2
1 a12
1
.
(25)
2 = 4 tan
, where v =
vt
cosh 1v 2
1 + a12
Considering the asymptotics of (24) as t (and then x
and x +) and as t +(and then x and x +), one
can find the phase shift to be 2 v 2 1 log v (the only evidence of
interaction).

5
10

j2 0
5

-5
-10

0x

-5
t

-5

0
5
10

-10

Figure: Head-on collision of two kinks for v = 0.6.

10.5 Two-wave interactions (kink-kink, kink-antikink, etc.)

Example 2. The symmetric kink-antikink solution (head-on collision,
same velocities) is obtained when a2 = 1/a1 , a1 < 0 and 1 = 2 = 0. It
can be written as
#
"
vt
sinh 1v
2
1 a12
1
.
(26)
,
where
v
=
2 = 4 tan
x
v cosh 1v
1 + a12
2
10
5
t 0
-5
-10
5
j2 0
-5
10

0
x

-5

-10

Figure: Head-on collision of kink and antikink for v = 0.6.

10.6 Breather
The symmetric kink-antikink solution (26) takes an interesting form if
the velocity parameter v is allowed to be imaginary. Setting
i
v=
, < 1,
1 2
one obtains the breather
"
#
2
sin
t
1

2 = 4 tan1
,
(27)

cosh 1 2 x
which is a localized, but oscillating in time solution.

4
2
j2 0
-2
-4
10

20
10
0 t
5
0
x

-10
-5
-10

-20

Figure: A stationary breather for = 0.5.

10.6 Breather

The solution (27) describes a stationary breather. Using the Lorentz

symmetry of the SG equation:
x ct
x
,
1 c2

t cx
t
,
1 c2

one can obtain a moving breather:

2
sin[ (tcx)
]
2
1

1c
.

2 = 4 tan1
2 (xct)

cosh [ 1
]
1c 2
Here, an envelope velocity c is equal to the reciprocal of its carrier
velocty c 1 .

10.7 Soliton ladder

The procedure, described above, can be continued, resulting in the
so-called soliton ladder, shown below:

Figure: http://homepages.tversu.ru/s000154/collision/main.html

10.8 Soliton interactions

Interactions of any SG solitons are accompanied by phase shifts only

(elastic interactions).

Interactions have a two-particle nature: when several solitons collide,

a shift of any soliton involved into the interaction is equal to the
sum of the shifts caused by its independent interactions with other
solitons.

10.8 Soliton interactions

Visit: http://homepages.tversu.ru/s000154/collision/main.html
to see some movies, showing kink-kink, kink-antikink, kink-breather, etc.
interactions.

Lecture 10 References
From the list of main references:
1. Ablowitz, M.J. & Segur, H. 1981 Solitons and the Inverse Scattering
Transform, SIAM.
2. Dodd, R.K., Eilbeck, J.C., Gibbon, J.D., & Morris, H.C. 1982 Solitons
and Nonlinear Wave Equations, Academic Press Inc.
3. Drazin, P.G. and Johnson, R.S. 1989 Solitons: an Introduction,
Cambridge University Press, London.
4. Scott, A. 1999 Nonlinear Science: Emergence and Dynamics of
Coherent Structures, Oxford University Press Inc., New York.
Additional references:
1. Lamb, G.M. 1980 Elements of Soliton Theory, Wiley, New York.
2. Chen, H-H, General Derivation of Backlund Transformations from
Inverse Scattering Problems, Phys. Rev. Lett. 33 (1974) 925-928.
3. http://homepages.tversu.ru/s000154/collision/main.html