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# Periodic orbits close to elliptic tori and applications to the three-body problem

## Introduction

A classical problem in Hamiltonian dynamical systems concerns, since the researches of Poincaré, the existence of periodic orbits in the vicinity of invariant submanifolds.

Poincaré wrote: “…voici un fait que je n’ai pu démontrer rigoureusement, mais qui me parait pourtant très vraisemblable. Étant données des équations de la forme définie dans le n. 13222The Hamilton’s equations. et une solution particulière quelconque de ces équations, one peut toujours trouver une solution périodique (dont la période peut, il est vrai, être très longue), telle que la différence entre les deux solutions soit aussi petite qu’on le veut, pendant un temps aussi long qu’on le veut.” (\[P\], Tome 1, ch. III, a. 36).

This conjecture was often quoted by Birkhoff as a main motivation for his works. In the thirties, Birkhoff and Lewis \[B\]-\[BL\]-\[L\] established the existence of infinitely many periodic solutions in a neighborhood of an elliptic equilibrium whose linear frequencies are sufficiently non-resonant. This Theorem also requires a non-degeneracy -“twist”\- condition, involving finitely many Taylor coefficients of the Hamiltonian at the equilibrium, and implying the system to be genuinely non-linear. In addition, if the Hamiltonian is sufficiently smooth, KAM theory ensures, in a neighborhood of the equilibrium small enough, the existence of invariant Lagrangian tori filling up a set of positive Lebesgue measure, see \[Pö\]. Furthermore, close to any KAM torus, it has been proved in \[CZ\] the existence of infinitely many others periodic orbits with larger and larger minimal period accumulating to the torus itself (as a consequence, the closure of the periodic orbits has positive Lebesgue measure). The result of \[CZ\] is proved considering the normal form Hamiltonian which describes the dynamics near each torus, checking the “twist condition”, and, then, applying the Birkhoff-Lewis type Theorem of \[Mo\].

Actually, Birkhoff and Lewis established also the existence of infinitely many periodic solutions close to a non-constant periodic elliptic solution.

The question of the existence of periodic orbits with larger and larger minimal period clustering to elliptic lower dimensional invariant tori (of dimension greater than one) has not been yet investigated. An invariant torus is called elliptic, or linearly stable, if the linearized system along the torus, possesses purely imaginary eigenvalues.
A main motivation for studying such problem is Celestial Mechanics, which, indeed, inspired the whole development of KAM theory (Arnold \[A\] devoted one of the fundamental papers of this theory to the planar $`n`$-body problem).

Consider, in particular, the non-planar planetary three body problem, namely one “star” and two “planets” interacting through a Newtonian gravitational field in the three dimensional space. The masses of the planets are regarded as small parameters. According to Poincaré and Delaunay this system is described by a nearly-integrable Hamiltonian on a eight dimensional phase space, equipped with real-analytic action-angle variables. Such system turns out to be properly degenerate, i.e. the integrable limit (in which the three body-problem is described by two decoupled and integrable two-body systems) depends only on two action variables. Hence, in the integrable limit all bounded motions lie on two-dimensional invariant tori supporting periodic or quasi-periodic motions according the ratio between the two frequencies (related, by Kepler’s law, to the major semi-axis of the two limiting Keplerian ellipes) is a rational or irrational number. Furthemore, in the small eccentricity-inclination regime (of astronomical interest) these unperturbed two-tori are elliptic: the spatial planetary three body-problem calls for a perturbation theory for continuing elliptic lower-dimensional tori.
In the last years, an exhaustive perturbation theory for elliptic tori has indeed been developed by many authors, see \[M\], \[E\], \[W\], \[K\], \[Pö1\], \[Pö2\], \[Bo\] and \[XJ\]. The persistence of elliptic tori is ensured requiring “Melnikov non-resonance conditions” among the frequencies and further non-degeneracy conditions.
In light of these results, the spatial planetary three body problem (in the small eccentricity-inclination regime) has been recently reexamined in \[BCV\], where the persistence of two-dimensional elliptic invariant tori -with diophantine frequencies- has been proved, provided the Keplerian major semi-axes belong to a two dimensional set of positive measure.

Previous works on the spatial planetary three-body problem are \[JM\], for large inclinations (in this case the two-tori are hyperbolic), and \[LR\]-\[R\], for maximal dimensional tori (the proofs are computer assisted).

In the present paper we first prove, under suitable non-resonance and non-degeneracy “twist” conditions, a general Birkhoff-Lewis type result showing the existence of infinitely many periodic solutions, with larger and larger minimal period, accumulating onto elliptic lower dimensional invariant tori, see Theorem 1.1 for the precise statement.

Furthermore we prove the applicability of Theorem 1.1 to the spatial planetary three-body problem, showing the existence of infinitely many periodic solutions accumulating on the elliptic KAM tori of \[BCV\], see Theorem 0.2. Such periodic orbits revolve around the star close to Keplerian ellipses with small eccentricities and small non-zero mutual inclinations. The verification of the “twist” condition (Lemma 5.1) is based on a KAM analysis.

Finally, in Theorems 0.3, 0.4 we prove the existence of other periodic solutions of the spatial planetary three body-problem, the “periodic analogue” of the elliptic tori of \[BCV\], see Theorem 6.1 for a more general statement.

We now present a simplified version of our results.

Periodic orbits accumulating on elliptic tori. As already said, the persistence of elliptic invariant tori is ensured assuming “Melnikov non-resonance conditions” among the frequencies. In particular, under the “second order Melnikov conditions” (see precisely (4)), the surviving tori are still elliptic and the normal form Hamiltonian describing the dynamics in a neighborhood is

$$_{}(_{},\phi _{},Z_{},\overline{Z}_{})=\omega _{}+\mathrm{\Omega }Z_{}\overline{Z}_{}+\underset{2|k|+|a+\overline{a}|3}{}R_{k,a,\overline{a}}^{}(\phi _{})_{}^kZ_{}^a\overline{Z}_{}^{\overline{a}},$$

where $`(_{},\phi _{})𝐑^n\times 𝐓^n`$ and $`(Z_{},\overline{Z}_{})𝐂^{2m}`$. In these coordinates $`𝒯:=\{_{}=0`$, $`\phi _{}𝐓^n`$, $`Z_{}=\overline{Z}_{}=0\}`$ is the invariant and elliptic torus. $`\omega 𝐑^n`$ are the torus frequencies and $`\mathrm{\Omega }𝐑^m`$ the elliptic one’s.

We refer to \[JV\] and \[BHS\] for many results concerning the dynamics of an Hamiltonian system close to an elliptic torus, in particular for the existence, under appropiate non-resonance and non-degeneracy conditions, of Cantor families of other invariant tori of dimensions greater than $`n`$.

Also for proving the existence of periodic orbits accumulating onto the elliptic torus $`𝒯`$ we need to assume suitable non-resonance and non-degeneracy “twist” conditions. Roughly (see Theorem 1.1 for the detailed statement) we have:

###### Theorem 0.1

Under suitable non-resonance and non-degeneracy conditions, the Hamiltonian system generated by $`_{}`$ affords infinitely many periodic solutions, with larger and larger minimal period, accumulating on the invariant elliptic torus $`𝒯`$.

The precise Theorem 1.1 and a description of its proof are given in Section 1. Theorem 1.1 implies, in particular, the result of \[CZ\] for maximal dimensional tori.

The planetary, spatial three body-problem. Let $`\epsilon >0`$ denote the small parameter measuring the ratios between the masses of the planets and the mass of the star (see (104)). The existence of two-dimensional elliptic invariant tori has been proved in \[BCV\]. Roughly (see Theorem 5.2 for a precise statement and proof) their result states:

Theorem (\[BCV\]) The spatial planetary three-body problem affords, for $`\epsilon `$ small enough, a family $``$ of two-dimensional, elliptic invariant tori, travelled with diophantine quasi-periodic frequencies, provided the osculating Keplerian major semi-axes belong to a two-dimensional set of density close to one (as $`\epsilon `$ tends to $`0`$).

We will prove, in section 5, that:

###### Theorem 0.2

The spatial planetary three-body problem affords, for $`\epsilon `$ small enough, infinitely many periodic solutions, with larger and larger minimal period, accumulating onto each elliptic invariant torus of the family $``$.

The proof of Theorem 0.2 boils down to check that the non-resonance and non-degeneracy twist conditions of Theorem 1.1 are fulfilled for the spatial planetary three-body problem. This task is accomplished by estimates based on a careful KAM analysis.
Finally, in section 6, we prove the existence of other periodic orbits of the spatial planetary three-body problem, the “periodic analogue” of the elliptic tori of \[BCV\]. More precisely, let consider the integrable (i.e. $`\epsilon =0`$) three-body problem when the two planets revolve around the star along circular orbits without interacting (decoupled two-body systems). Some of these motions will be periodic with, say, minimal period $`T`$. Taking into account the mutual interaction between the planets (i.e. $`\epsilon >0`$) we prove the existence of, at least, two, slightly deformed, $`T`$-periodic orbits. The parameter $`\epsilon `$ must belong to a suitable interval of values depending on the period $`T`$.

###### Theorem 0.3

There exist $`T_0>0`$ and functions $`0<\underset{¯}{\epsilon }(T)<\overline{\epsilon }(T)`$, defined for $`T[T_0,\mathrm{})`$ and decreasing to zero as $`T+\mathrm{}`$ such that, for any circular periodic orbits of the decoupled three-body problem with minimal period $`TT_0`$, for all $`\underset{¯}{\epsilon }(T)\epsilon \overline{\epsilon }(T)`$, there exist at least two, $`\epsilon `$-close, geometrically distinct $`T`$-periodic orbits of the spatial planetary three-body problem.

The following Theorem can be seen as an $`\epsilon `$-fixed version of Theorem 0.3, requiring, for fixed small values of the masses of the planets, restrictions on the period $`T`$.

###### Theorem 0.4

There exist $`\epsilon _1>0`$ and functions $`0<\underset{¯}{T}(\epsilon )<\overline{T}(\epsilon )`$, defined for $`\epsilon (0,\epsilon _1]`$ and tending to infinity as $`\epsilon 0`$, such that, for all $`0<\epsilon \epsilon _1`$ and for any circular periodic orbit of the decoupled three-body problem with minimal period $`\underset{¯}{T}(\epsilon )T\overline{T}(\epsilon )`$, there exist at least two, $`\epsilon `$-close, geometrically distinct $`T`$-periodic orbits of the spatial planetary three-body problem.

A more general Theorem implying Theorems 0.3 and 0.4 is given in Theorem 6.1.

The paper is organized as follows. In Section 1, we give the detailed statement of Theorem 0.1, namely Theorem 1.1, and we discuss its proof. Section 2 collects some number theoretical Lemmata used in Section 4 for defining the “non-resonant” periods $`T`$. Section 3 is devoted to a normal form averaging result. The proof of Theorem 1.1 is addressed in Section 4. In Section 5, after recalling the Poincaré-Delaunay formulation of the spatial planetary three-body problem, we prove, first, a finer version of the KAM result of \[BCV\] and, finally, Theorem 0.2. Section 6 contains the proof of Theorems 0.3, 0.4 and 6.1.

Acknowledgements: We thank P. Bolle and L. Chierchia for many interesting discussions. Part of this paper was written when the last two authors were visiting SISSA in Trieste. They thanks SISSA for its kind hospitality.

Notations: We denote by $`O(\xi )`$ a real analytic function whose norm is bounded by $`C\xi `$, for a suitable constant $`C>0`$ and $`0<\xi \xi _0`$. $`\mathrm{Mat}(n\times n,𝐑)`$ (resp. $`\mathrm{Mat}(n\times n,𝐂)`$) is the set of $`n\times n`$ matrices with real (resp. complex) coefficients and $`\mathrm{𝟏}_n`$ the $`n\times n`$ identity matrix. $`B_r`$ denotes the (closed) ball of radius $`r`$ centered at $`0`$, $`B_r^n`$ the closed ball of radius $`r`$ centered at $`0`$ using the $`||_2`$ norm, and $`D_\rho ^d`$ the complex $`d`$-ball of radius $`\rho `$ centered at $`0`$. $`\mathrm{}A`$ is the cardinality of the set $`A`$. $`\mathrm{gcd}`$ is the greatest common divisor and $`\mathrm{lcm}`$ the least common multiple. We set $`e_i:=(0,\mathrm{},1,\mathrm{},0)𝐙^n`$ the $`i`$-th unit versor and $`|a|_1:=_{i=1}|a|_1`$ norm. Through the paper $`C_i,c_i`$, const. will denote positive constants possibly depending $`n`$, $`m`$, $`\omega `$, $`\mathrm{\Omega }`$, $`\gamma `$, $`\tau `$, $`r`$, $`s`$, $`\rho `$, $`R^{}`$, etc.

## 1 Periodic orbits accumulating on elliptic tori

We now give the precise statement concerning the existence of periodic orbits close to elliptic tori (Theorem 1.1). Let consider Hamiltonians of the form

$$_{}(_{},\phi _{},Z_{},\overline{Z}_{})=\omega _{}+\mathrm{\Omega }Z_{}\overline{Z}_{}+\underset{2|k|+|a+\overline{a}|3}{}R_{k,a,\overline{a}}^{}(\phi _{})_{}^kZ_{}^a\overline{Z}_{}^{\overline{a}},$$
(1)
where $`(_{},\phi _{})𝐑^n\times 𝐓^n`$ are action-angle variables and $`(Z_{},\overline{Z}_{})𝐂^{2m}`$ are called the normal (or elliptic) coordinates. The phase space $`𝐑^n\times 𝐓^n\times 𝐂^m\times 𝐂^m`$ is equipped with the symplectic form333We denote the imaginary unit by $`\mathrm{i}`$ (not to be confused with $`i`$ often used as an index). $`d_{}d\phi _{}+\mathrm{i}dZ_{}d\overline{Z}_{}`$.

$`\omega 𝐑^n`$ is the frequency vector and $`\mathrm{\Omega }:=`$diag$`(\mathrm{\Omega }_1,\mathrm{},`$ $`\mathrm{\Omega }_m)`$ is the $`m\times m`$ diagonal matrix of the normal (or elliptic) frequencies. Hence $`\mathrm{\Omega }Z_{}\overline{Z}_{}`$ denotes $`_{1jm}\mathrm{\Omega }_jZ_j\overline{Z}_j`$. We will often identify the diagonal matrix $`\mathrm{\Omega }`$ with the vector $`(\mathrm{\Omega }_1,\mathrm{},\mathrm{\Omega }_m)𝐑^m`$. For the multi-indexes $`k𝐍^n,`$ $`a,\overline{a}𝐍^m`$ we define $`|k|:=_{i=1}^nk_i,`$ $`|a|:=_{j=1}^ma_j,`$ $`|\overline{a}|:=_{j=1}^m\overline{a}_j.`$

The Hamiltonian $`_{}`$ is assumed to be real analytic for $`(_{},\phi _{},Z_{},\overline{Z}_{})D_r_{}^n\times 𝐓_s_{}^n\times D_\rho _{}^{2m}𝐂^{2n+2m}`$ for some positive constants $`r_{},s_{},\rho _{}.`$ 444We have used the following standard notations: for a given set $`A𝐑^d`$, $`d𝐍^+`$ and $`\delta ,s>0`$, we denote by $`A_\delta ^d:=\{z𝐂^d|\mathrm{dist}(z,A)<\delta \}`$ and $`𝐓_s^d:=\{z𝐂^d||\mathrm{Im}z_j|<s,1jd\}`$. Moreover $`D_\delta ^d:=\{z𝐂^d||z|<\delta \}.`$  Real analytic means that $`_{}`$ is real analytic in the real and imaginary parts of $`Z_{}`$. The functions $`R_{k,a,\overline{a}}^{}(\phi _{})`$ can be expanded in Fourier series as

$$R_{k,a,\overline{a}}^{}(\phi _{})=\underset{\mathrm{}𝐙^n}{}R_{k,a,\overline{a},\mathrm{}}^{}e^{\mathrm{i}\mathrm{}\phi _{}}.$$
(2)
Since $`_{}(_{},\phi _{},Z_{},\overline{Z}_{})𝐑`$ for all $`(_{},\phi _{})𝐑^n\times 𝐓^n`$ and for all $`Z_{}𝐂^m`$, the Taylor-Fourier coefficient $`R_{k,a,\overline{a},\mathrm{}}^{}`$ satisfy

$$\overline{R_k^{}}_{a,\overline{a},\mathrm{}}=R_{k,\overline{a},a,\mathrm{}}^{}.$$
(3)
The frequency vector $`(\omega ,\mathrm{\Omega })`$ is assumed to satisfy the “second order Melnikov non-resonance conditions”

$$|\omega \mathrm{}+\mathrm{\Omega }h|\frac{\gamma }{1+|\mathrm{}|^\tau },\mathrm{}𝐙^n,h𝐙^m,|h|2,(\mathrm{},h)(0,0)$$
(4)
for some positive constants $`\gamma ,\tau `$. We will use such condition in order to perform the averaging procedure of Section 3.

By condition (4), the frequency $`\omega `$ is rationally independent555i.e. $`\omega \mathrm{}0,\mathrm{}𝐙^n`$. (actually Diophantine), while $`(\omega ,\mathrm{\Omega })`$ can possess some resonance relations which can be described as follows. Eventually reordering the frequencies $`\mathrm{\Omega }_j`$, there exists $`0\widehat{m}m`$ such that666if $`\widehat{m}=m`$ we set $`\widehat{\omega }:=\omega `$. $`\widehat{\omega }:=(\omega ,\mathrm{\Omega }_{\widehat{m}+1},\mathrm{},\mathrm{\Omega }_m)`$ is rationally independent on $`𝐙^{\widehat{n}}`$, where $`\widehat{n}:=n+m\widehat{m}`$, but $`(\widehat{\omega },\mathrm{\Omega }_j)`$ is rationally dependent for all $`1j\widehat{m}`$ ($`\widehat{m}`$ is the number of resonances). This means that there exist $`M_j𝐍^+`$ and $`a_j𝐙^{\widehat{n}}`$ such that777We denote by $`\mathrm{gcd}`$ and $`\mathrm{lcm}`$ the greatest common divisor and the least common multiple, respectively.

$$M_j\mathrm{\Omega }_j=a_j\widehat{\omega }\mathrm{with}\mathrm{gcd}(a_{j1},\mathrm{},a_{j\widehat{n}},M_j)=1,1j\widehat{m}.$$
(5)
The Hamiltonian system888Setting $`Z_{}=(P_{}+\mathrm{i}Q_{})/\sqrt{2}`$, $`\overline{Z}_{}=(P_{}\mathrm{i}Q_{})/\sqrt{2}`$ with $`(P_{},Q_{})𝐑^{2m}`$ the last two equations are equivalent to $`\dot{Q}_{}=_P_{},\dot{P}_{}=_Q_{}`$.

$$\dot{}_{}=_\phi _{}_{},\dot{\phi }_{}=_{_{}}_{},\dot{Z}_{}=\mathrm{i}_{\overline{Z}_{}}_{},\dot{\overline{Z}}_{}=\mathrm{i}_Z_{}_{}$$
(6)
possesses the elliptic invariant torus

$$𝒯:=\left\{(_{},\phi _{},Z_{},\overline{Z}_{})𝐑^n\times 𝐓^n\times 𝐂^{2m}\right|_{}=0,Z_{}=\overline{Z}_{}=0\}$$

supporting the quasi-periodic solutions $`(0,\phi _0+\omega t,0,0)`$.

We define the symmetric “twist” matrix $`\mathrm{Mat}(n\times n,𝐑)`$

$$_{i,i^{}}:=(1+\delta _{i,i^{}})R_{e_i+e_i^{},0,0,0}^{}\underset{\genfrac{}{}{0pt}{}{1jm}{\mathrm{}𝐙^n}}{}\frac{1}{\omega \mathrm{}+\mathrm{\Omega }_j}\left(R_{e_i,e_j,0,\mathrm{}}^{}R_{e_i^{},0,e_j,\mathrm{}}^{}+R_{e_i,0,e_j,\mathrm{}}^{}R_{e_i^{},e_j,0,\mathrm{}}^{}\right),$$
(7)
where $`R_{k,a,\overline{a},\mathrm{}}^{}`$ are the Fourier coefficients, introduced in (2), of $`R_{k,a,\overline{a}}^{}(\phi _{})`$ and $`\delta _{i,i^{}}:=1`$ if $`i=i^{}`$ and $`0`$ if $`ii^{}`$. We also define the matrix $`𝒬\mathrm{Mat}(m\times n,𝐑)`$ as

$`𝒬_{ji}`$ $`:=`$ $`R_{e_i,e_j,e_j,0}^{}{\displaystyle \underset{\genfrac{}{}{0pt}{}{1i^{}n}{\mathrm{}𝐙^n}}{}}{\displaystyle \frac{\mathrm{}_i^{}}{\omega \mathrm{}+\mathrm{\Omega }_j}}\left(R_{e_i,e_j,0,\mathrm{}}^{}R_{e_i^{},0,e_j,\mathrm{}}^{}+R_{e_i,0,e_j,\mathrm{}}^{}R_{e_i^{},e_j,0,\mathrm{}}^{}\right)`$ (8)
$``$ $`{\displaystyle \underset{\genfrac{}{}{0pt}{}{1j^{}m}{\mathrm{}𝐙^n}}{}}{\displaystyle \frac{1}{\omega \mathrm{}+\mathrm{\Omega }_j^{}}}\left(R_{0,e_j,e_j+e_j^{},\mathrm{}}^{}R_{e_i,e_j^{},0,\mathrm{}}^{}+R_{0,e_j+e_j^{},e_j,\mathrm{}}^{}R_{e_i,0,e_j^{},\mathrm{}}^{}\right).`$
for $`1jm,1in.`$ We stress that $``$ and $`𝒬`$ are real matrices by (3).

We now give the precise statement of Theorem 0.1.

###### Theorem 1.1

Let the Hamiltonian $`_{}`$ in (1) be real analytic in $`D_r_{}^n\times 𝐓_s_{}^n\times D_\rho _{}^{2m}`$ and satisfy condition (4). Assume the “twist” condition $`\mathrm{det}0`$ and one of the following “non-resonance” conditions:

* $`(a)`$ one of the three cases below holds:

+ (i) $`m=1,2`$ (low number of elliptic directions),
    + (ii) $`\widehat{m}=0`$ (no resonances among $`(\omega ,\mathrm{\Omega })`$),
    + (iii) $`M_j\widehat{m}1,1j\widehat{m}`$ ;
* $`(b)`$ $`\alpha :=\underset{1jm}{\mathrm{min}}|(\mathrm{\Omega }𝒬^1\omega )_j|>0`$ ;

where $`\widehat{m}`$ and $`M_j`$ are defined in (5).

Then, there exist $`\eta _0,C_0,C_1>0`$ 999Such constants may depend on $`n`$, $`m`$, $`\omega `$, $`\mathrm{\Omega }`$, $`\gamma `$, $`\tau `$, $`r_{}`$, $`s_{}`$, $`\rho _{}`$, $`R_{k,a,\overline{a},\mathrm{}}^{}`$, $`\widehat{m}`$, $`𝒬`$, $`\alpha `$. such that: $`\eta (0,\eta _0]`$, there exist an open set of periods $`𝒜_\eta [\frac{1}{\eta ^2},\frac{1}{\eta ^2}+C_0]`$ with measure greater than $`1/C_0`$ such that $`T𝒜_\eta `$ there exist $`k:=k(T)𝐙^n`$, $`\stackrel{~}{\omega }:=\stackrel{~}{\omega }(T)𝐑^n`$, with $`\stackrel{~}{\omega }T=2\pi k`$, $`|\stackrel{~}{\omega }\omega |C_1\eta ^2`$, and at least $`n`$ geometrically distinct $`T`$-periodic solutions $`\zeta _\eta (t)=`$ $`(_\eta (t),`$ $`\phi _\eta (t),`$ $`Z_\eta (t),`$ $`\overline{Z}_\eta (t))`$ of the Hamiltonian system (6) satisfying

* $`(i)`$ $`sup_{t𝐑}\left(|_\eta (t)|+|Z_\eta (t)|+|\overline{Z}_\eta (t)|\right)C_1\eta ^2`$ ;
* $`(ii)`$ $`sup_{t𝐑}|\phi _\eta (t)(\phi _\eta (0)+\stackrel{~}{\omega }t)|C_1\eta `$.

In particular, the closure of the family of periodic orbits $`\zeta _\eta `$ of (6) contains the elliptic torus $`𝒯`$. Moreover the minimal period $`T_{min}`$ of $`\zeta _\eta `$ satisfies $`T_{min}T^{1/(\tau +1)}/C_1=O(\eta ^{2/(\tau +1)}).`$

Idea of the proof of Theorem 1.1. Since $`(\omega ,\mathrm{\Omega })`$ satisfy the second order Melnikov non-resonance conditions (4), in view of an averaging procedure (Proposition 3.1), the normal form Hamiltonian $`_{}`$ is, in a suitable set of coordinates $`(I,\varphi ,z,\overline{z})𝐑^n\times 𝐓^n\times 𝐂^{2m}`$, and sufficiently close to the torus $`𝒯`$, a small perturbation of the integrable Hamiltonian

$$H_{int}:=\omega I+\frac{\eta ^2}{2}II+\mathrm{\Omega }z\overline{z}+\eta ^2𝒬Iz\overline{z},$$

where $`\eta >0`$ is a small rescaling parameter measuring the distance from $`𝒯`$. The Hamiltonian system generated by $`H_{int}`$ possesses the elliptic tori $`𝒯(I_0):=\{I=I_0,\varphi 𝐓^n,z=0\}`$ supporting the linear flow $`t\{I_0,\varphi _0+(\omega +\eta ^2I_0)t,0\}`$. On the normal space the dynamics is described by $`\dot{z}=\mathrm{i}\mathrm{\Omega }_\eta (I_0)z`$ where $`\mathrm{\Omega }_\eta (I_0):=`$ $`\mathrm{\Omega }+\eta ^2𝒬I_0`$ is the vector of the “shifted elliptic frequencies”. Our task is to find periodic solutions bifurcating from the ones of $`H_{int}`$.

The system is properly nonlinear by the “twist condition” det $`0`$ (see remarks 4.3 and 4.4 for a comment). Such condition involves only finitely many Taylor coefficients $`R_{k,a,\overline{a}}^{}`$ of the normal form Hamiltonian $`_{}`$ and ensures, in particular, that the frequencies $`\omega +\eta ^2I_0`$ vary with the actions $`I_0`$. When

$$\stackrel{~}{\omega }:=\omega +\eta ^2I_0\frac{1}{T}2\pi 𝐙^n,$$

$`𝒯(I_0)`$ is a completely resonant torus, supporting the family of $`T`$-periodic motions $`𝒫:=`$ $`\{I(t)=I_0,`$ $`\varphi (t)=\varphi _0+\stackrel{~}{\omega }t`$, $`z(t)=0\}`$ (completely resonant frequencies $`\stackrel{~}{\omega }(2\pi /T)𝐙^n`$ always exists for some $`T=O(\eta ^2)`$ and $`I_0=O(1)`$, see (81), (82)). The family $`𝒫`$, diffeomorphic to $`𝐓^n`$, will not persist in its entirety for the complete Hamiltonian system due to resonances among the oscillations.

The key point to continue some periodic solutions of the family $`𝒫`$ is to choose properly the “1-dimensional parameter” $`T`$ (the period) and the actions $`I_0`$: the period $`T`$ and the “shifted elliptic frequencies” $`\mathrm{\Omega }_\eta (I_0)`$ must satisfy a suitable non-resonance property, see (80).

In Lemma 4.1 (resp. 4.2) we actually show the existence, assuming condition $`(a)`$ (resp. $`(b)`$) in Theorem 1.1, of “non resonant” periods $`T`$. Note that in condition $`(a)`$ the “coupling matrix” $`𝒬`$ does not play any role (in particular for $`m=2`$ which is the case of the spatial three body problem). If conditions $`(a)`$-$`(ii)`$-$`(iii)`$ are not verified, the system possesses “lower order” resonances (see equation (5)), which are an obstruction for finding “non-resonant” periods $`T`$. In this case one needs, in order to “move away” from the resonances, to evaluate the matrix $`𝒬`$ and check condition ($`b`$). Conditions $`(a)`$-$`(b)`$ are, indeed, sharp: if violated, it is not possible, in general, to find any “non-resonant” period $`T`$, see remark 4.1.

After the previous construction, the proof of Theorem 1.1 is based on a Lyapunov-Schmidt reduction, variational in nature, inspired to \[ACE\]-\[AB\]. The non-resonance property (80) and the “twist condition” det$`0`$, allow to build, by means of the Contraction Mapping Theorem, a suitable family of pseudo-$`T`$-periodic solutions branching off the family $`𝒫`$, see Lemma 4.3. Finally, by a variational argument, we will select at least $`n`$ ($`=`$ cat $`𝐓^{n1}`$) geometrically distinct $`T`$-periodic solutions from them.

Finally, we recall that, for strictly convex nearly integrable Hamiltonian systems, \[BK\] have proved, via a variational argument, the existence of periodic orbits with arbitrarily large minimal periods. We have not tried to extend their approach in the present case, since the unperturbed Hamiltonian $`H_{int}`$ is not-strictly convex (it is linear in the elliptic action variables $`z\overline{z}`$). Moreover the previously described phenomenon of resonances between the period $`T`$ and the “shifted elliptic frequencies” is hardly recognizable by a purely variational approach (which works well for finding periodic orbits near maximal dimensional tori and problably near hyperbolic one’s).

## 2 Study of the resonances and technical Lemmata

In this section we first collect some number theoretical Lemmata that will be used in section 4 for defining the “non-resonant periods” $`T`$ (Lemma 2.3 will be used in Lemma 4.1).

###### Lemma 2.1

Let $`a_1,\mathrm{},a_n𝐙,`$ $`M𝐍`$ with gcd $`(a_1,\mathrm{},a_n,M)=1.`$ Then, $`b𝐙`$, the congruence $`a_1k_1+\mathrm{}+a_nk_nb`$ $`\mathrm{mod}M`$ has $`M^{n1}`$ solutions.

Proof: Recall a well known result from number theory: let $`a,b,M𝐙`$ and $`c:=\mathrm{gcd}(a,M)`$; then the congruence $`akb`$ $`\mathrm{mod}M`$, $`k𝐙`$, has solution if and only if101010 $`c|b`$ means that there exists $`n𝐙`$ such that $`b=cn.`$ $`c|b`$ and in this case it has exactly $`c`$ solutions. It means that there exist integers $`0k_1<\mathrm{}<k_cM1`$ such that $`ak_hbM𝐙`$ $`1hc,`$ but $`akbM𝐙`$ $`k\{0,\mathrm{},M1\}`$, $`kk_h`$ $`1hc.`$

We now prove the Lemma by induction over $`n.`$ The case $`n=1`$ is the above mentioned result. We now suppose the statement true for $`n`$ and prove it for $`n+1.`$ Let $`c:=\mathrm{gcd}(a_{n+1},M).`$ Our congruence is equivalent to $`a_{n+1}k_{n+1}(b_{i=1}^na_ik_i)`$ $`\mathrm{mod}M`$ which has exactly $`c`$ solutions if and only if $`c|(b_{i=1}^na_ik_i)`$. Hence we have only to prove that the number of integers $`0k_1,\mathrm{},k_nM1`$ for which $`c|(b_{i=1}^na_ik_i)`$ is exactly $`M^n/c=c^{n1}(M/c)^n`$. This amounts to prove that the number of integer solutions of $`_{i=1}^na_ik_ib\mathrm{mod}c`$, is exactly $`c^{n1}.`$ This is true, by the inductive hypotesis, if $`\mathrm{gcd}(a_1,\mathrm{},a_n,c)=1.`$ The last equality is actually true since, by hypotesis, $`\mathrm{gcd}(a_1,\mathrm{},a_{n+1},M)=1;`$ hence if $`d|a_1,\mathrm{},a_n,c`$, since $`c|a_{n+1},M`$, then $`d|a_{n+1},M`$ and it follows $`d=1.`$ $`\mathrm{}`$

###### Lemma 2.2

Let $`\widehat{m},\widehat{n}𝐍^+.`$ Let $`\widehat{\omega }𝐑^{\widehat{n}}`$ rationally independent. Let $`\widehat{\mathrm{\Omega }}𝐑^{\widehat{m}}`$ with $`M_j\widehat{\mathrm{\Omega }}_j=a_j\widehat{\omega }`$ for $`M_j𝐍`$, $`a_j𝐙^{\widehat{n}}`$. Suppose that gcd $`(a_{j1},\mathrm{},a_{j\widehat{n}},M_j)=1`$. Let $`M:=\mathrm{lcm}(M_1,\mathrm{},M_{\widehat{m}})`$ and $`K:=\{0,\mathrm{},M1\}^{\widehat{n}}.`$ Suppose $`M_j\widehat{m},`$ $`\mathrm{\hspace{0.17em}1}j\widehat{m}`$. Moreover, in the case $`\widehat{m}=1`$, suppose also $`M_12.`$ Then there exists $`kK`$ such that $`a_jk/M_j𝐙`$, $`\mathrm{\hspace{0.17em}1}j\widehat{m}`$.

Proof: Let $`\mathrm{\Lambda }_j:=\{kK\mathrm{s}.\mathrm{t}.a_jkM_j𝐙\}`$, $`\mathrm{\Lambda }_j^{}:=\{kK_j\mathrm{s}.\mathrm{t}.a_jkM_j𝐙\}`$, where $`K_j:=\{0,\mathrm{},M_j1\}^{\widehat{n}}.`$ Since $`M_j|M`$ we have111111We denote by $`\mathrm{}A`$ the cardinality of the set $`A`$. $`\mathrm{}\mathrm{\Lambda }_j=(M/M_j)^{\widehat{n}}\mathrm{}\mathrm{\Lambda }_j^{}.`$ Using Lemma 2.1 with the substitutions $`n\widehat{n},`$ $`b0`$, $`a_ia_{ji},`$ $`MM_j`$ we obtain that $`\mathrm{}\mathrm{\Lambda }_j^{}=M_j^{\widehat{n}1}.`$ Hence we have $`\mathrm{}\mathrm{\Lambda }_j=M^{\widehat{n}}/M_j.`$ Observing that $`\{0\}\mathrm{\Lambda }_j`$ $`\mathrm{\hspace{0.17em}1}j\widehat{m},`$ we have

$$\mathrm{}\underset{j=1}{\overset{\widehat{m}}{}}(\mathrm{\Lambda }_j\{0\})\underset{j=1}{\overset{\widehat{m}}{}}\mathrm{}(\mathrm{\Lambda }_j\{0\})=\underset{j=1}{\overset{\widehat{m}}{}}\left(\frac{M^{\widehat{n}}}{M_j}1\right)=\widehat{m}+M^{\widehat{n}}\underset{j=1}{\overset{\widehat{m}}{}}\frac{1}{M_j}.$$
(9)
If $`\widehat{m}2`$, since $`M_j\widehat{m}`$ by hypothesis, then $`\widehat{m}+M^{\widehat{n}}_{j=1}^{\widehat{m}}\frac{1}{M_j}\widehat{m}+M^{\widehat{n}}<1+M^{\widehat{n}}`$. If $`\widehat{m}=1`$, since $`M_1=M2`$ by hypothesis, $`\widehat{m}+M^{\widehat{n}}_{j=1}^{\widehat{m}}\frac{1}{M_j}=1+M^{\widehat{n}1}<1+M^{\widehat{n}}`$. In both cases, from (9), we get

$$\mathrm{}\underset{j=1}{\overset{\widehat{m}}{}}(\mathrm{\Lambda }_j\{0\})<M^{\widehat{n}}1=\mathrm{}(K\{0\})$$

and the conclusion of the Lemma follows from $`\mathrm{}_{j=1}^{\widehat{m}}\mathrm{\Lambda }_j<\mathrm{}K`$. $`\mathrm{}`$

In view of the next Lemma we recall the definition of the ergodization time of a torus with linear flow. For any vector $`\xi 𝐑^{\widehat{n}}`$ the ergodization time $`T_{\mathrm{erg}}(\xi ,\epsilon )`$ required to fill $`𝐓^{\widehat{n}}`$ within $`\epsilon >0`$ is defined as

$$T_{\mathrm{erg}}(\xi ,\epsilon ):=inf\left\{t𝐑_+\right|x𝐑^{\widehat{n}},\mathrm{\hspace{0.17em}1}i\widehat{n},\mathrm{dist}(x_i,A_i+[0,t]\xi _i+𝐙)\epsilon \}$$
(10)
where $`A`$ is some point of $`𝐑^{\widehat{n}}`$. $`T_{\mathrm{erg}}(\xi ,\epsilon )`$ is clearly independent of the choice of $`A`$.

If $`(\omega ,\mathrm{\Omega })`$ are rationally independent or are resonant only at a sufficiently high order, namely if $`(\omega ,\mathrm{\Omega })p0`$, $`p𝐙^{n+m}`$ with $`0<|p|a/\delta `$ for some constant $`a:=a_{n,m}`$, then the trajectories of the linear flow $`\{(\omega ,\mathrm{\Omega })t\}_{t𝐑}`$ will make an arbitrarly fine $`\delta `$-net of $`𝐓^{n+m}`$, see Theorem 4.1 of \[BBB\]. This non-resonance assumption on $`(\omega ,\mathrm{\Omega })`$ is clearly sufficient to prove (13)-(14) below. In the present case, however, the weaker non-resonance assumptions (11), (12) are sufficient.

###### Lemma 2.3

Let $`M_j,a_j,\widehat{m}`$ as in (5) and suppose that

$$M_j\widehat{m}\mathrm{\hspace{0.17em}1}j\widehat{m}.$$
(11)
In the case $`\widehat{m}=1=M_1`$ suppose also

$$n+1i_{}\widehat{n}=n+m1\mathrm{such}\mathrm{that}a_{1i_{}}0.$$
(12)
$`0<\delta 1/(2\beta )`$, where $`\beta :=2\mathrm{m}\mathrm{a}\mathrm{x}_{1j\widehat{m}}|a_j|_1`$, and $`t_0>0,`$ there exists $`\tau t_0`$ such that

$`\mathrm{dist}(\omega _i\tau ,𝐙)`$ $``$ $`\delta \mathrm{\hspace{0.17em}1}in,`$ (13)
$`\mathrm{dist}(\mathrm{\Omega }_j\tau ,𝐙)`$ $``$ $`\mathrm{min}\{{\displaystyle \frac{1}{2\beta }},{\displaystyle \frac{1}{4\mathrm{max}_{1j\widehat{m}}M_j}}\}=:d_0\mathrm{\hspace{0.17em}1}jm.`$ (14)
Moreover $`\tau t_0T_{\mathrm{erg}}(\widehat{\omega }/M,\delta /M)`$ where $`M:=\mathrm{lcm}(M_1,\mathrm{},M_{\widehat{m}})`$.

If $`(\omega ,\mathrm{\Omega })`$ are rationally independent, namely $`\widehat{m}=0`$, (13)–(14) are still verified setting $`\beta :=2,`$ $`d_0:=1/4`$, $`M:=1.`$

Proof: We first consider the cases $`\widehat{m}2`$ or $`\widehat{m}=1<M_1.`$ We are in the hypoteses of Lemma 2.2. Hence there exists $`kK:=\{0,\mathrm{},M1\}^{\widehat{n}}`$ such that $`a_jk/M_j𝐙`$, $`\mathrm{\hspace{0.17em}1}j\widehat{m}`$. Let121212We define $`(y_1,\mathrm{},y_n):=(y_1,\mathrm{},y_n)`$ where the function $`:𝐑[1/2,1/2)`$ is defined as $`y:=y`$ for $`y[1/2,1/2)`$ and it is $`1`$-periodically extended for $`y𝐑.`$ Note that, for $`y(1/2)+𝐙`$, $`y=y[y]`$ where $`[y]`$ is the closest integer to $`y`$.

$$x:=\frac{1}{M}\left(k+\frac{1}{\beta }\underset{i=n+1}{\overset{\widehat{n}}{}}e_i\right)\frac{\widehat{\omega }}{M}t_0[1/2,1/2)^{\widehat{n}}.$$

Since $`\widehat{\omega }/M`$ is rationally independent, its linear flow ergodizes the torus $`𝐑^{\widehat{n}}/𝐙^{\widehat{n}}`$. Let $`t_0`$ $`\tau `$ $`t_0+T_{\mathrm{erg}}(\widehat{\omega }/M,\delta /M)`$ the first instant for which $`h𝐙^{\widehat{n}}`$ with $`|\frac{\widehat{\omega }}{M}(\tau t_0)xh|_{\mathrm{}}`$ $`\delta /M.`$ If $`y:=\widehat{\omega }\tau k\frac{1}{\beta }_{i=n+1}^{\widehat{n}}e_iMh^{}`$ then, by a suitable choice of $`h^{}𝐙^{\widehat{n}}`$, we obtain by the construction above that $`|y|_{\mathrm{}}\delta .`$ Hence, by definition of $`\widehat{\omega }`$, $`\mathrm{\hspace{0.17em}1}in,`$ $`\omega _i\tau =\widehat{\omega }_i\tau =y_i+k_iMh_i^{}`$ and (13) holds.

Moreover, from the resonance relation (5), $`\mathrm{\hspace{0.17em}1}j\widehat{m},`$

$$\mathrm{\Omega }_j\tau =\frac{a_j\widehat{\omega }\tau }{M_j}=\frac{a_jy}{M_j}+\frac{a_jk}{M_j}+\frac{1}{\beta M_j}\underset{i=n+1}{\overset{\widehat{n}}{}}a_{ji}+\frac{M}{M_j}a_jh^{}.$$
(15)
We observe that $`a_jk/M_j𝐙`$ implies $`\mathrm{dist}(a_jk/M_j,𝐙)1/M_j`$. Also, $`|a_jy||a_j|_1\delta `$, $`|_{i=n+1}^{\widehat{n}}a_{ji}||a_j|_1`$. Hence, collecting these observations and (15), we have

$$\mathrm{dist}(\mathrm{\Omega }_j\tau ,𝐙)\frac{1}{M_j}\frac{|a_j|_1\delta }{M_j}\frac{|a_j|_1}{\beta M_j}\frac{1}{4M_j}\mathrm{\hspace{0.17em}1}j\widehat{m},$$
(16)
recalling also that $`0<\delta (1/2\beta )`$ and the definition of $`\beta `$. Finally, by definition of $`\widehat{\omega }`$, for $`\widehat{m}+1jm`$, we have $`\mathrm{\Omega }_j\tau =`$ $`\widehat{\omega }_{n+j\widehat{m}}\tau =`$ $`y_{n+j\widehat{m}}+`$ $`k_{n+j\widehat{m}}+1/\beta +`$ $`Mh_{n+j\widehat{m}}^{}`$, which implies

$$\mathrm{dist}(\mathrm{\Omega }_j\tau ,𝐙)\frac{1}{\beta }\delta \frac{1}{2\beta }\widehat{m}+1jm,$$
(17)
and (14) follows from (16)-(17).

We now consider the case $`\widehat{m}=1`$, $`M_1=1.`$ We have $`M=M_1=1`$. We set $`a:=a_1`$ to simplify the notation. Let

$$x:=\underset{i=n+1}{\overset{\widehat{n}}{}}b_ie_i\widehat{\omega }t_0,$$

where

$$b_i:=\{\begin{array}{cc}\frac{\mathrm{sign}(a_i)}{2_{i=n+1}^{\widehat{n}}|a_i|}& \mathrm{if}a_i0,\\ \frac{1}{2|a|_1}& \mathrm{if}a_i=0.\end{array}$$

Note that $`|b_i|1/(2|a|_1)`$ for all $`i`$. Proceeding exactly as above we find $`t_0\tau t_0+T_{\mathrm{erg}}(\widehat{\omega },\delta )`$ and an $`h^{}𝐙^{\widehat{n}}`$ such that, defining

$$y:=\widehat{\omega }\tau \underset{i=n+1}{\overset{\widehat{n}}{}}b_ie_ih^{},$$

we have $`|y|_{\mathrm{}}\delta `$ and (13) holds. The proof of (14) is slightly different. For $`j=1`$ we have

$$\mathrm{\Omega }_1\tau =a\widehat{\omega }\tau =ay+a\underset{i=n+1}{\overset{\widehat{n}}{}}b_ie_i+ah^{}=ay+\frac{1}{2}+ah^{},$$

where, in the last equality we have used (12) abd the definition of $`b_i`$. Since $`ah^{}𝐙`$ and $`|ay||a|_1\delta 1/4`$ we have

$$\mathrm{dist}(\mathrm{\Omega }_1\tau ,𝐙)\frac{1}{2}\frac{1}{4}=\frac{1}{4}.$$
(18)
Instead, for $`2jm`$ we have $`\mathrm{\Omega }_j\tau =\widehat{\omega }_{n+j1}\tau =y_{n+j1}+b_{n+j1}+h_{n+j1}^{}`$ which implies

$$\mathrm{dist}(\mathrm{\Omega }_j\tau ,𝐙)b_{n+j1}\delta \frac{1}{2|a|_1}\delta =\frac{1}{\beta }\delta \frac{1}{2\beta }\mathrm{\hspace{0.17em}2}jm,$$
(19)
and (14) follows from (18)-(19).

We finally consider the case $`\widehat{m}=0`$, which is the simplest one since the linear flow of $`\widehat{\omega }=(\omega ,\mathrm{\Omega })`$ ergodizes the whole torus $`𝐓^{n+m}.`$ Let define

$$x:=\frac{1}{2}\underset{i=n+1}{\overset{n+m}{}}e_i\widehat{\omega }t_0.$$

There exists $`t_0<\tau <t_0+T_{\mathrm{erg}}(\widehat{\omega },\delta )`$ and $`h𝐙^{n+m}`$ such that $`|\widehat{\omega }(\tau t_0)xh|_{\mathrm{}}\delta `$, with $`0<\delta 1/4`$. Arguing as before we get $`|\widehat{\omega }\tau (1/2)_{i=n+1}^{n+m}e_ih^{}|_{\mathrm{}}\delta `$ for a suitable $`h^{}𝐙^{n+m}`$ and the estimates (13)-(14) follow. The Lemma is proved. $`\mathrm{}`$

The next two Lemmata, whose proof is omitted, will be used in the proofs of Theorems 1.1 and 0.2, for constructing the pseudo periodic solutions through the Contraction Mapping Theorem.

###### Lemma 2.4

Let $`(X,||_X)`$ and $`(Y,||_Y)`$ be Banach spaces, $`L:YX`$ be a linear bounded operator and $`P:XY`$ be a $`C^1`$ map. Assume that

$$\delta _02|L(P(0))|_X$$
(20)
and

$$\underset{xB_{\delta _0}}{sup}|DP(x)|\frac{1}{2|L|}.$$
(21)
Then, there exists a unique $`x^{}B_{\delta _0}`$ such that $`x^{}=L(P(x^{}))`$.

The next Lemma defines a suitable “Green operator” $`L`$ associated to the linear system (2.5) below.

###### Lemma 2.5

Let $`T>0`$, $`\mathrm{\Omega }\mathrm{Mat}(m\times m,𝐑)`$, $`M\mathrm{Mat}(n\times n,𝐑)`$ and define $`:=\mathrm{𝟏}_me^{\mathrm{i}\mathrm{\Omega }T}\mathrm{Mat}(m\times m,𝐂)`$. Assume that $`M`$ and $``$ are invertible. Let

$`Y`$ $`:=`$ $`C([0,T],𝐑^n\times 𝐓^n\times 𝐂^m),`$ (22)
$`X`$ $`:=`$ $`\left\{(J,\psi ,z)Y\mathrm{s}.\mathrm{t}.\psi (0)=\psi (T)=0,z(0)=z(T)\right\}.`$ (23)
$`X`$ and $`Y`$, endowed with the sup-norm $`(\widehat{J},\widehat{\psi },\widehat{z}):=`$ $`sup_{t[0,T]}(|\widehat{J}(t)|,`$ $`|\widehat{\psi }(t)|,`$ $`|\widehat{z}(t)|),`$ are Banach spaces.

For any $`(\widehat{J},\widehat{\psi },\widehat{z})Y`$ define the constants

$`\alpha (\widehat{J},\widehat{\psi })`$ $`:=`$ $`{\displaystyle \frac{1}{T}}\left({\displaystyle _0^T}{\displaystyle _0^s}\widehat{J}(\theta )𝑑\theta 𝑑s+M^1{\displaystyle _0^T}\widehat{\psi }(\theta )𝑑\theta \right)𝐑^n,`$
$`\beta (\widehat{z})`$ $`:=`$ $`^1e^{\mathrm{i}\mathrm{\Omega }T}{\displaystyle _0^T}e^{\mathrm{i}\mathrm{\Omega }\theta }\widehat{z}(\theta )𝑑\theta 𝐂^m`$
and the linear “Green” operator $`L:YX`$ by

$$L\left(\begin{array}{c}\widehat{J}\\ \widehat{\psi }\\ \widehat{z}\end{array}\right):=\left(\begin{array}{c}\alpha (\widehat{J},\widehat{\psi })+_0^t\widehat{J}(s)𝑑s\\ \\ M\alpha t+M_0^t_0^s\widehat{J}(\theta )𝑑\theta 𝑑s+_0^t\widehat{\psi }(\theta )𝑑\theta \\ \\ e^{\mathrm{i}\mathrm{\Omega }t}\left(\beta (\widehat{z})+_0^te^{\mathrm{i}\mathrm{\Omega }\theta }\widehat{z}(\theta )𝑑\theta \right)\end{array}\right).$$
(24)
The Green operator $`L`$ satisfies

$$|L|C\left(|M^1|+|M|T^2+|M||M^1|T+|^1|T\right),$$
(25)
for a suitable constant $`C>0`$ depending on $`sup_{t[0,T]}|e^{\mathrm{i}\mathrm{\Omega }t}|`$, $`n`$ and $`m`$.

Setting $`(J,\psi ,z)=L(\widehat{J},\widehat{\psi },\widehat{z})`$, then $`(J,\psi ,z)C^1`$ and

$$\{\begin{array}{ccc}\dot{J}& =& \widehat{J},\\ \dot{\psi }MJ& =& \widehat{\psi },\\ \dot{z}\mathrm{i}\mathrm{\Omega }z& =& \widehat{z}.\end{array}$$

The straightforward proof is omitted. We only point out that $`L(Y)X`$ by definition of the constants $`\alpha (\widehat{J},\widehat{\psi })`$ and $`\beta (\widehat{z})`$.

## 3 Normal form around an elliptic torus

In order to study the dynamics of the Hamiltonian system (6) in a small neighborhood of $`𝒯`$ it is a convenient device to perform the following rescaling

$$_{}:=\eta ^2,\phi _{}:=\phi ,Z_{}:=\eta Z,\overline{Z}_{}:=\eta \overline{Z},$$
(26)
where $`\eta >0`$ is a positive small parameter. Note that the linear tranformation (26) preserves the torus $`𝒯`$ and that a domain of order one in the new variables $`(,\phi ,Z,\overline{Z})`$ correspond to a domain in the old variables $`(_{},\phi _{},Z_{},\overline{Z}_{})`$ that shrinks towards $`𝒯`$ for $`\eta `$ tending to zero.

The new Hamiltonian $`(_,\phi ,Z,\overline{Z})=\eta ^2_{}(\eta ^2,\phi ,\eta Z,\eta \overline{Z})`$ writes

$$(_,\phi ,Z,\overline{Z})=\omega +\mathrm{\Omega }Z\overline{Z}+\underset{2|k|+|a+\overline{a}|3}{}\eta ^{2|k|+|a+\overline{a}|2}R_{k,a,\overline{a}}^{}(\phi )^kZ^a\overline{Z}^{\overline{a}}$$
(27)
and it is analytic on

$$D_{r_{}/\eta ^2}^n\times 𝐓_s_{}^n\times D_{\rho _{}/\eta }^{2m}.$$

In order to find periodic solutions with large period close to the elliptic torus $`𝒯`$ we will apply in section 4 a finite dimensional reduction of Lyapunov-Schmidt type. For this purpose (see remark 4.2) we need first to perform a symplectic change of variables which eliminates from the Hamiltonian $``$ defined in (27) the following terms131313For short, in the sequel we will often omit the summation over $`\mathrm{}𝐙^n`$.

$`\eta {\displaystyle \underset{\genfrac{}{}{0pt}{}{1in}{|a+\overline{a}|=1}}{}}R_{e_i,a,\overline{a}}^{}(\phi )_iZ^a\overline{Z}^{\overline{a}},`$ (28)
$`\eta ^2{\displaystyle \underset{|k|=2,\mathrm{}0}{}}R_{k,0,0,\mathrm{}}^{}^ke^{\mathrm{i}\mathrm{}\phi },`$ (29)
$`\eta ^2{\displaystyle \underset{\genfrac{}{}{0pt}{}{1in}{\genfrac{}{}{0pt}{}{|a+\overline{a}|=2}{a\overline{a}\mathrm{or}\mathrm{}0}}}{}}R_{e_i,a,\overline{a},\mathrm{}}^{}_iZ^a\overline{Z}^{\overline{a}}e^{\mathrm{i}\mathrm{}\phi },`$ (30)
$`\eta ^3{\displaystyle \underset{\genfrac{}{}{0pt}{}{2|k|+|a+\overline{a}|=5}{|a+\overline{a}|=1}}{}}R_{k,a,\overline{a}}^{}(\phi )^kZ^a\overline{Z}^{\overline{a}}.`$ (31)
This task will be accomplished in the next Proposition. The term (29) will be “averaged out” since $`\omega `$ is diophantine; the terms (28) and (31) using the first order Melnikov non-resonance conditions (namely conditions (4) for $`|h|1`$), and, finally, the term (30) using the second order Melnikov non-resonance conditions (4).

###### Proposition 3.1

(Averaging) Let the Hamiltonian $``$, defined in (27), be real analytic on $`D_r^n\times 𝐓_s^n\times D_\rho ^{2m}`$ and satisfy the second-order Melnikov non-resonance conditions (4). Then, for $`\eta `$ small enough, depending on $`n`$, $`m`$, $`\omega `$, $`\mathrm{\Omega }`$, $`\gamma `$, $`\tau `$, $`r`$, $`s`$, $`\rho `$, there exists an analytic canonical change of coordinates $`\mathrm{\Phi }:`$ $`(I,\varphi ,z,\overline{z})(,\phi ,Z,\overline{Z})`$, $`\eta `$-close to the identity,

$$\mathrm{\Phi }:D_{r/2}^n\times 𝐓_{s/2}^n\times D_{\rho /2}^{2m}D_r^n\times 𝐓_s^n\times D_\rho ^{2m},$$

transforming the Hamiltonian $``$ into the Hamiltonian141414 We denote $`𝒬Iz\overline{z}:=_{\genfrac{}{}{0pt}{}{1jm}{1in}}𝒬_{ji}I_iz_j\overline{z}_j`$.

$`H=\mathrm{\Phi }`$ $`=`$ $`\omega I+\mathrm{\Omega }z\overline{z}+\eta {\displaystyle \underset{|a+\overline{a}|=3}{}}R_{0,a,\overline{a}}^{}(\varphi )z^a\overline{z}^{\overline{a}}+`$ (32)
$`+`$ $`\eta ^2\left[{\displaystyle \frac{1}{2}}II+𝒬Iz\overline{z}+{\displaystyle \underset{|a+\overline{a}|=4}{}}R_{0,a,\overline{a}}(\varphi )z^a\overline{z}^{\overline{a}}\right]+`$
$`+`$ $`\eta ^3{\displaystyle \underset{\genfrac{}{}{0pt}{}{2|k|+|a+\overline{a}|=5}{|a+\overline{a}|=3,5}}{}}R_{k,a,\overline{a}}(\varphi )I^kz^a\overline{z}^{\overline{a}}+O(\eta ^4),`$
for suitable $`R_{k,a,\overline{a}}𝐂`$, $`R_{k,a,\overline{a}}(\varphi )`$ analytic on $`𝐓_{s/2}^n`$, and where $``$ is the symmetric twist matrix defined in (7) and $`𝒬\mathrm{Mat}(m\times n,𝐑)`$ is defined in (8).

Proof: We rewrite the Hamiltonian (27) in the form

$$(_,\phi ,Z,\overline{Z})=\underset{j0}{}\eta ^jR_{}^{(j)}(_,\phi ,Z,\overline{Z})$$
(33)
with

$$R_{}^{(0)}:=\omega +\mathrm{\Omega }Z\overline{Z}\mathrm{and}R_{}^{(j)}:=\underset{2|k|+|a+\overline{a}|=j+2}{}R_{k,a,\overline{a},\mathrm{}}^{}^kZ^a\overline{Z}^{\overline{a}}e^{\mathrm{i}\mathrm{}\phi }$$
(34)
where we have expanded in Fourier series the functions $`R_{k,a,\overline{a}}^{}(\phi )`$ as in (2).

We want to define a canonical change of variables $`\mathrm{\Phi }`$ from the new variables $`\zeta :=(I,\varphi ,z,\overline{z})`$ to the old ones $`𝒵:=(,\phi ,Z,\overline{Z})`$, as the flow at time 1 of a suitable Hamiltonian $`\chi `$. Precisely $`\mathrm{\Phi }:=\mathrm{\Phi }_\chi ^1,`$ where $`\mathrm{\Phi }_\chi ^t(\zeta _0):=\zeta (t)`$ is the unique solution of the Hamiltonian system

$$\dot{I}(t)=_\varphi \chi (\zeta (t)),\dot{\varphi }(t)=_I\chi (\zeta (t)),\dot{z}(t)=\mathrm{i}_{\overline{z}}\chi (\zeta (t)),\dot{\overline{z}}(t)=\mathrm{i}_z\chi (\zeta (t))$$
(35)
with initial conditions $`\zeta (0)=\zeta _0`$.

The Lie operator (Poisson brackets), acting on a function $`g:=g(\zeta )`$, is defined as

$$L_\chi g:=\{g,\chi \}:=_\varphi g_I\chi _Ig_\varphi \chi +\mathrm{i}_zg_{\overline{z}}\chi \mathrm{i}_{\overline{z}}g_z\chi .$$
(36)
For every integer $`j0`$ we also set

$$L_\chi ^0g:=g,L_\chi ^jg:=L_\chi L_\chi ^{j1}g.$$
(37)
The new Hamiltonian $`H=\mathrm{\Phi }`$ can be developed, for all $`j_0𝐍^+`$, as

$$H:=\mathrm{\Phi }=\underset{j=0}{\overset{j_0}{}}\frac{1}{j!}L_\chi ^j+\frac{1}{j_0!}_0^1(1\xi )L_\chi ^{j_0+1}\mathrm{\Phi }_\chi ^\xi 𝑑\xi .$$
(38)
We look for a Hamiltonian $`\chi `$ of the form

$$\chi =\underset{j=1}{\overset{j_0}{}}\eta ^j\chi ^{(j)},\mathrm{where}\chi ^{(j)}:=\chi ^{(j)}(I,\varphi ,z,\overline{z}):=\underset{2|k|+|a+\overline{a}|=j+2}{}\chi _{k,a,\overline{a},\mathrm{}}I^kz^a\overline{z}^{\overline{a}}e^{\mathrm{i}\mathrm{}\varphi }$$
(39)
will be chosen later on. For the sake of simplicity we will often omit in the notation the summation over $`\mathrm{}𝐙^m`$. Inserting (39) in (38) we obtain

$$H=\underset{d=0}{\overset{j_0}{}}\eta ^dR^{(d)}+\underset{d=1}{\overset{j_0}{}}\eta ^d\underset{j=0}{\overset{j_0}{}}\frac{1}{j!}\underset{h=0}{\overset{d1}{}}\underset{\genfrac{}{}{0pt}{}{h+i_1+\mathrm{}+i_j=d}{1i_1,\mathrm{}i_jd}}{}L_{\chi ^{(i_1)}}\mathrm{}L_{\chi ^{(i_j)}}R_{}^{(h)}+O(\eta ^{j_0+1})$$
(40)
Denoting $`[]_d`$ the $`d`$-th order in $`\eta `$, we obtain

$$[H]_1=R_{}^{(1)}+L_{\chi ^{(1)}}R_{}^{(0)}$$
(41)
and

$$[H]_d=R_{}^{(d)}+L_{\chi ^{(d)}}R_{}^{(0)}+\underset{j=0}{\overset{j_0}{}}\frac{1}{j!}\underset{h=0}{\overset{d1}{}}\underset{\genfrac{}{}{0pt}{}{h+i_1+\mathrm{}+i_j=d}{1i_1,\mathrm{}i_jd1}}{}L_{\chi ^{(i_1)}}\mathrm{}L_{\chi ^{(i_j)}}R_{}^{(h)}.$$
(42)
Observe that

$`{\displaystyle \underset{\begin{array}{c}2|k|+|a+\overline{a}|=h+2\\ 2|k^{}|+|a^{}+\overline{a}^{}|=h^{}+2\end{array}}{}}\{I^kz^a\overline{z}^{\overline{a}}e^{\mathrm{i}\mathrm{}\varphi },I^k^{}z^a^{}\overline{z}^{\overline{a}^{}}e^{\mathrm{i}\mathrm{}^{}\varphi }\}=`$ (45)
$`{\displaystyle \underset{2|k^{\prime \prime }|+|a^{\prime \prime }+\overline{a}^{\prime \prime }|=h+h^{}+2}{}}c_{k^{\prime \prime },a^{\prime \prime },\overline{a}^{\prime \prime },\mathrm{}^{\prime \prime }}I^{k^{\prime \prime }}z^{a^{\prime \prime }}\overline{z}^{\overline{a}^{\prime \prime }}e^{\mathrm{i}\mathrm{}^{\prime \prime }\varphi },`$ (46)
for suitable constants $`c_{k^{\prime \prime },a^{\prime \prime },\overline{a}^{\prime \prime },\mathrm{}^{\prime \prime }}`$, which are explicitly given by the following formula:

$`\{I^kz^a\overline{z}^{\overline{a}}e^{\mathrm{i}\mathrm{}\varphi },I^k^{}z^a^{}\overline{z}^{\overline{a}^{}}e^{\mathrm{i}\mathrm{}^{}\varphi }\}`$ $`=`$ $`\mathrm{i}[{\displaystyle \underset{i=1}{\overset{n}{}}}(\mathrm{}_ik_i^{}\mathrm{}_i^{}k_i)I^{k+k^{}e_i}z^{a+a^{}}\overline{z}^{\overline{a}+\overline{a}^{}}+`$
$`+`$ $`{\displaystyle \underset{j=1}{\overset{m}{}}}(a_j\overline{a}_j^{}\overline{a}_ja_j^{})I^{k+k^{}}z^{a+a^{}e_j}\overline{z}^{\overline{a}+\overline{a}^{}e_j}]e^{\mathrm{i}(\mathrm{}+\mathrm{}^{})\varphi }.`$
Thus, we obtain that

$$L_{\chi ^{(i_1)}}\mathrm{}L_{\chi ^{(i_j)}}R_{}^{(h)}=\underset{2|k|+|a+\overline{a}|=h+i_1+\mathrm{}+i_j+2}{}c_{k,a,\overline{a},\mathrm{}}I^kz^a\overline{z}^{\overline{a}}e^{\mathrm{i}\mathrm{}\varphi }$$

for suitable constants $`c_{k,a,\overline{a},\mathrm{}}`$. Hence,

$$[H]_d=L_{\chi ^{(d)}}R_{}^{(0)}+\underset{2|k|+|a+\overline{a}|=d+2}{}R_{k,a,\overline{a},\mathrm{}}I^kz^a\overline{z}^{\overline{a}}e^{\mathrm{i}\mathrm{}\varphi }$$
(48)
for suitable $`R_{k,a,\overline{a},\mathrm{}}`$ with

$$R_{k,a,\overline{a},\mathrm{}}:=R_{k,a,\overline{a},\mathrm{}}(\chi ^{(1)},\mathrm{},\chi ^{(d1)},R_{}^{(0)},\mathrm{},R_{}^{(d)});$$

we note that, by means of (41) and (48)

$$2|k|+|a+\overline{a}|=3R_{k,a,\overline{a},\mathrm{}}=R_{k,a,\overline{a},\mathrm{}}^{},$$
(49)
(recall also the setting in (34)). We also evaluate

$$L_{\chi ^{(d)}}R_{}^{(0)}=\{\omega I+\mathrm{\Omega }z\overline{z},\chi ^{(d)}\}=\underset{2|k|+|a+\overline{a}|=d+2}{}\mathrm{i}(\omega \mathrm{}+\mathrm{\Omega }(a\overline{a}))\chi _{k,a,\overline{a},\mathrm{}}I^kz^a\overline{z}^{\overline{a}}e^{\mathrm{i}\mathrm{}\varphi }.$$
(50)
We define the following “resonant” set:

$$S:=S_1S_2S_3\{(k,a,\overline{a},\mathrm{})\mathrm{s}.\mathrm{t}.32|k|+|a+\overline{a}|5,\mathrm{}𝐙^n\},$$
(51)
with $`S_2=S_2^0S_2^1S_2^2`$ and

$`S_1`$ $`:=`$ $`\{k=0,|a+\overline{a}|=3,\mathrm{}𝐙^n\}`$
$`S_2^0`$ $`:=`$ $`\{k=0,|a+\overline{a}|=4,\mathrm{}𝐙^n\}`$
$`S_2^1`$ $`:=`$ $`\{k=e_i,a=\overline{a}=e_j,1in,1jm,\mathrm{}=0\}`$
$`S_2^2`$ $`:=`$ $`\{|k|=2,a=\overline{a}=0,\mathrm{}=0\}`$
$`S_3`$ $`:=`$ $`\{2|k|+|a+\overline{a}|=5,|a+\overline{a}|=3,5,\mathrm{}𝐙^n\}.`$
Let $`j_0=3`$. $`1d3`$, $`(k,a,\overline{a},\mathrm{})`$ such that $`2|k|+|a+\overline{a}|=d+2,\mathrm{}𝐙^n`$, one can check, by condition (4), that

$$(k,a,\overline{a},\mathrm{})S|\omega \mathrm{}+\mathrm{\Omega }(a\overline{a})|\frac{\gamma }{1+|\mathrm{}|^\tau },$$
(52)
and hence we can define

$$\chi _{k,a,\overline{a},\mathrm{}}:=\{\begin{array}{cc}0\hfill & \mathrm{if}(k,a,\overline{a},\mathrm{})S\hfill \\ \mathrm{i}[\omega \mathrm{}+\mathrm{\Omega }(a\overline{a})]^1R_{k,a,\overline{a},\mathrm{}}\hfill & \mathrm{otherwise}\hfill \end{array}$$
(53)
In light of this construction, using (48) and (50), we have151515We denote by $`\mathrm{\Pi }_𝒮`$, where $`𝒮𝐍^{n+2m}\times 𝐙^n`$, the projection on $`𝒮`$ $`i.e.`$
$$\mathrm{\Pi }_𝒮\left(\underset{k,a,\overline{a},\mathrm{}}{}c_{k,a,\overline{a},\mathrm{}}I^kz^a\overline{z}^{\overline{a}}e^{\mathrm{i}\mathrm{}\varphi }\right):=\underset{(k,a,\overline{a},\mathrm{})𝒮}{}c_{k,a,\overline{a},\mathrm{}}I^kz^a\overline{z}^{\overline{a}}e^{\mathrm{i}\mathrm{}\varphi }.$$

$$[H]_d=\mathrm{\Pi }_{S_d}\left(\underset{2|k|+|a+\overline{a}|=d+2}{}R_{k,a,\overline{a},\mathrm{}}I^kz^a\overline{z}^{\overline{a}}e^{\mathrm{i}\mathrm{}\varphi }\right)=\underset{(k,a,\overline{a},\mathrm{})S_d}{}R_{k,a,\overline{a},\mathrm{}}I^kz^a\overline{z}^{\overline{a}}e^{\mathrm{i}\mathrm{}\varphi }.$$
(54)
Define

$$R_{k,a,\overline{a}}:=R_{k,a,\overline{a},0},R_{k,a,\overline{a}}(\varphi ):=\underset{\mathrm{}𝐙^n}{}R_{k,a,\overline{a},\mathrm{}}e^{\mathrm{i}\mathrm{}\varphi }.$$

By recurrence, using (48), it is possible to evaluate the terms $`R_{k,a,\overline{a}}`$ explicitely.

From (42) and (49) we have

$$[H]_2=\mathrm{\Pi }_{S_2}\left(\frac{1}{2}\{\{R_{}^{(0)},\chi ^{(1)}\},\chi ^{(1)}\}+\{R_{}^{(1)},\chi ^{(1)}\}+R_{}^{(2)}\right).$$

Noting that

$$\{R_{}^{(0)},\chi ^{(1)}\}=R_{}^{(1)}+\mathrm{\Pi }_{S_1}R_{}^{(1)},$$

we have

$$[H]_2=\mathrm{\Pi }_{S_2}\left(\frac{1}{2}\{R_{}^{(1)}+\mathrm{\Pi }_{S_1}R_{}^{(1)},\chi ^{(1)}\}+R_{}^{(2)}\right).$$

In order to prove (32) we only need to show that

$`{\displaystyle \frac{1}{2}}II`$ $`=`$ $`\mathrm{\Pi }_{S_2^2}[H_2]={\displaystyle \frac{1}{2}}\mathrm{\Pi }_{S_2^2}\left(\{R_{}^{(1)},\chi ^{(1)}\}\right)+\mathrm{\Pi }_{S_2^2}R_{}^{(2)},`$ (55)
$`𝒬Iz\overline{z}`$ $`=`$ $`\mathrm{\Pi }_{S_2^1}[H_2]=\mathrm{\Pi }_{S_2^1}\left({\displaystyle \frac{1}{2}}\{R_{}^{(1)}+\mathrm{\Pi }_{S_1}R_{}^{(1)},\chi ^{(1)}\}\right)+\mathrm{\Pi }_{S_2^1}R_{}^{(2)}`$ (56)
$`=`$ $`\mathrm{\Pi }_{S_2^1}\left(\{{\displaystyle \frac{1}{2}}\mathrm{\Pi }_{S_1^c}R_{}^{(1)}+\mathrm{\Pi }_{S_1}R_{}^{(1)},\chi ^{(1)}\}\right)+\mathrm{\Pi }_{S_2^1}R_{}^{(2)},`$
where $`S_1^c:=\{k=e_i,|a+\overline{a}|=1,\mathrm{}𝐙^n,\mathrm{\hspace{0.17em}1}in\}.`$

We first prove (55). Using (39), (53) and (3), we have

$`\mathrm{\Pi }_{S_2^2}[H_2]`$ $`=`$ $`{\displaystyle \underset{j=1}{\overset{m}{}}}{\displaystyle \underset{\begin{array}{c}|k|=|k^{}|=1\\ |a+\overline{a}|=|a^{}+\overline{a}^{}|=1\\ a+a^{}=\overline{a}+\overline{a}^{}=e_j\end{array}}{}}{\displaystyle \frac{1}{2}}{\displaystyle \frac{R_{k,a,\overline{a},\mathrm{}}^{}R_{k^{},a^{},\overline{a}^{},\mathrm{}}^{}}{\omega \mathrm{}+\mathrm{\Omega }(\overline{a}a)}}(a_j\overline{a}_j^{}\overline{a}_ja_j^{})I^{k+k^{}}`$
$`+`$ $`{\displaystyle \underset{|k|=2}{}}R_{k,0,0,0}^{}I^k`$
$`=`$ $`{\displaystyle \underset{j=1}{\overset{m}{}}}{\displaystyle \underset{\begin{array}{c}1i,i^{}n\\ |a+\overline{a}|=|a^{}+\overline{a}^{}|=1\\ a+a^{}=\overline{a}+\overline{a}^{}=e_j\end{array}}{}}{\displaystyle \frac{1}{2}}{\displaystyle \frac{R_{e_i,a,\overline{a},\mathrm{}}^{}R_{e_i^{},a^{},\overline{a}^{},\mathrm{}}^{}}{\omega \mathrm{}+\mathrm{\Omega }(\overline{a}a)}}(a_j\overline{a}_j^{}\overline{a}_ja_j^{})I_iI_i^{}`$
$`+`$ $`{\displaystyle \underset{i,i^{}=1}{\overset{n}{}}}{\displaystyle \frac{1+\delta _{i,i^{}}}{2}}R_{e_i+e_i^{},0,0,0}^{}I_iI_i^{}`$
$`=`$ $`{\displaystyle \frac{1}{2}}{\displaystyle \underset{i,i^{}=1}{\overset{n}{}}}{\displaystyle \underset{j=1}{\overset{m}{}}}\left({\displaystyle \frac{R_{e_i,e_j,0,\mathrm{}}^{}R_{e_i^{},0,e_j,\mathrm{}}^{}}{\omega \mathrm{}\mathrm{\Omega }_j}}{\displaystyle \frac{R_{e_i,0,e_j,\mathrm{}}^{}R_{e_i^{},e_j,0,\mathrm{}}^{}}{\omega \mathrm{}+\mathrm{\Omega }_j}}\right)`$
$`+`$ $`{\displaystyle \underset{i,i^{}=1}{\overset{n}{}}}{\displaystyle \frac{1+\delta _{i,i^{}}}{2}}R_{e_i+e_i^{},0,0,0}^{}I_iI_i^{}={\displaystyle \frac{1}{2}}II,`$ (65)
where $`\delta _{i,i^{}}=1`$ if $`i=i^{}`$ and $`0`$ if $`ii^{}`$. Here, we observe that, since $`|a+\overline{a}|=|a^{}+\overline{a}^{}|=1`$, if $`a+a^{}=\overline{a}+\overline{a}^{}=e_j`$, then $`(a,\overline{a},a^{},\overline{a}^{})=(e_j,0,0,e_j)`$ or $`(0,e_j,e_j,0)`$. So (55) directly follows from (65).

We now prove (56). Using again (39), (53) and (3), we have

$`\mathrm{\Pi }_{S_2^1}[H_2]`$ $`=`$ $`\mathrm{i}\mathrm{\Pi }_{S_2^1}(\{{\displaystyle \frac{1}{2}}\mathrm{\Pi }_{S_1^c}R_{}^{(1)}+\mathrm{\Pi }_{S_1}R_{}^{(1)},`$
$`{\displaystyle \underset{\genfrac{}{}{0pt}{}{1i^{}n}{1j^{}m}}{}}({\displaystyle \frac{R_{e_i^{},e_j^{},0,\mathrm{}^{}}^{}}{\omega \mathrm{}^{}+\mathrm{\Omega }_j^{}}}z_j^{}+{\displaystyle \frac{R_{e_i^{},0,e_j^{},\mathrm{}^{}}^{}}{\omega \mathrm{}^{}\mathrm{\Omega }_j^{}}}\overline{z}_j^{})I_i^{}e^{\mathrm{i}\mathrm{}^{}\varphi }\})+\mathrm{\Pi }_{S_2^1}R^{(2)}_{}`$
$`=`$ $`{\displaystyle \frac{1}{2}}\mathrm{\Pi }_{S_2^1}{\displaystyle \underset{\begin{array}{c}1i,i^{}n\\ 1j^{}m\\ |a+\overline{a}|=1\end{array}}{}}(\mathrm{}_i^{}I_i+\mathrm{}_iI_i^{})R_{e_i,a,\overline{a},\mathrm{}}^{}z^a\overline{z}^{\overline{a}}\left({\displaystyle \frac{R_{e_i^{},e_j^{},0,\mathrm{}}^{}}{\omega \mathrm{}+\mathrm{\Omega }_j^{}}}z_j^{}+{\displaystyle \frac{R_{e_i^{},0,e_j^{},\mathrm{}}^{}}{\omega \mathrm{}^{}\mathrm{\Omega }_j^{}}}\overline{z}_j^{}\right)`$ (70)
$`+\mathrm{\Pi }_{S_2^1}({\displaystyle \underset{\genfrac{}{}{0pt}{}{1in}{1j,j^{}m}}{}}\{R_{0,e_j,e_j+e_j^{},\mathrm{}}^{}\overline{z}_j^{}z_j\overline{z}_je^{\mathrm{i}\mathrm{}\varphi },{\displaystyle \frac{R_{e_i^{},e_j^{},0,\mathrm{}^{}}^{}}{\omega \mathrm{}^{}+\mathrm{\Omega }_j^{}}}z_j^{}I_i^{}e^{\mathrm{i}\mathrm{}^{}\varphi }\}`$
$`+{\displaystyle \underset{\genfrac{}{}{0pt}{}{1in}{1j,j^{}m}}{}}\{R_{0,e_j+e_j^{},e_j,\mathrm{}}^{}z_j^{}z_j\overline{z}_je^{\mathrm{i}\mathrm{}\varphi },{\displaystyle \frac{R_{e_i^{},0,e_j^{},\mathrm{}^{}}^{}}{\omega \mathrm{}^{}\mathrm{\Omega }_j^{}}}\overline{z}_j^{}I_i^{}e^{\mathrm{i}\mathrm{}^{}\varphi }\})+\mathrm{\Pi }_{S_2^1}R^{(2)}_{}`$
$`=`$ $`{\displaystyle \frac{1}{2}}{\displaystyle \underset{\genfrac{}{}{0pt}{}{1i,i^{}n}{1jm}}{}}\mathrm{}_i^{}({\displaystyle \frac{R_{e_i,0,e_j,\mathrm{}}^{}R_{e_i^{},e_j,0,\mathrm{}}^{}}{\omega \mathrm{}+\mathrm{\Omega }_j}}+{\displaystyle \frac{R_{e_i,e_j,0,\mathrm{}}^{}R_{e_i^{},0,e_j,\mathrm{}}^{}}{\omega \mathrm{}\mathrm{\Omega }_j}}`$
$`+{\displaystyle \frac{R_{e_i,0,e_j,\mathrm{}}^{}R_{e_i^{},e_j,0,\mathrm{}}^{}}{\omega \mathrm{}+\mathrm{\Omega }_j}}+{\displaystyle \frac{R_{e_i,e_j,0,\mathrm{}}^{}R_{e_i^{},0,e_j,\mathrm{}}^{}}{\omega \mathrm{}\mathrm{\Omega }_j}})I_iz_j\overline{z}_j`$
$`{\displaystyle \underset{\genfrac{}{}{0pt}{}{1in}{1j,j^{}m}}{}}{\displaystyle \frac{1}{\omega \mathrm{}+\mathrm{\Omega }_j^{}}}\left(R_{0,e_j,e_j+e_j^{},\mathrm{}}^{}R_{e_i,e_j^{},0,\mathrm{}}^{}+R_{0,e_j+e_j^{},e_j\mathrm{}}^{}R_{e_i,0,e_j^{},\mathrm{}}^{}\right)I_iz_j\overline{z}_j`$
$`+\mathrm{\Pi }_{S_2^1}{\displaystyle \underset{2|k|+|a+\overline{a}|=4}{}}R_{k,a,\overline{a},\mathrm{}}^{}I^kz^a\overline{z}^{\overline{a}}e^{\mathrm{i}\mathrm{}\varphi }.`$
So (56) directly follows from (70).

The estimate on the new analyticity radii follows from (52) and from the fact that $`\chi =O(\eta )`$ (see (39)). $`\mathrm{}`$

## 4 Periodic orbits winding along the torus

In this section we prove the existence of periodic solutions of longer and longer (minimal) period shrinking closer and closer to the elliptic torus $`𝒯`$ (Theorem 1.1).
By Proposition 3.1 the Hamiltonian (27) can be transformed, thanks to the second order Melnikov non-resonance conditions (4), into the Hamiltonian

$`H(I,\varphi ,z,\overline{z})`$ $`=`$ $`\omega I+\mathrm{\Omega }z\overline{z}+\eta {\displaystyle \underset{|a+\overline{a}|=3}{}}R_{0,a,\overline{a}}^{}(\varphi )z^a\overline{z}^{\overline{a}}`$ (71)
$`+`$ $`\eta ^2\left[{\displaystyle \frac{1}{2}}II+𝒬Iz\overline{z}+{\displaystyle \underset{|a+\overline{a}|=4}{}}R_{0,a,\overline{a}}(\varphi )z^a\overline{z}^{\overline{a}}\right]`$
$`+`$ $`\eta ^3{\displaystyle \underset{\genfrac{}{}{0pt}{}{2|k|+|a+\overline{a}|=5}{|a+\overline{a}|=3,5}}{}}R_{k,a,\overline{a}}(\varphi )I^kz^a\overline{z}^{\overline{a}}+O(\eta ^4),`$
analytic on

$$D_{r_{}/(2\eta ^2)}^n\times 𝐓_{s_{}/2}^n\times D_{\rho _{}/(2\eta )}^{2m}.$$

The Hamilton’s equations of motion induced by the Hamiltonian (71)

$$\dot{I}=_\varphi H,\dot{\varphi }=_IH,\dot{z}=\mathrm{i}_{\overline{z}}H,\dot{\overline{z}}=\mathrm{i}_zH,$$
(72)
can be written as

$`\dot{I}`$ $`=`$ $`\eta {\displaystyle \underset{|a+\overline{a}|=3}{}}_\varphi R_{0,a,\overline{a}}^{}(\varphi )z^a\overline{z}^{\overline{a}}\eta ^2{\displaystyle \underset{|a+\overline{a}|=4}{}}_\varphi R_{0,a,\overline{a}}(\varphi )z^a\overline{z}^{\overline{a}}+`$
$`\eta ^3{\displaystyle \underset{\genfrac{}{}{0pt}{}{2|k|+|a+\overline{a}|=5}{|a+\overline{a}|=3,5}}{}}_\varphi R_{k,a,\overline{a}}(\varphi )I^kz^a\overline{z}^{\overline{a}}+O(\eta ^4),`$
$`\dot{\varphi }_i`$ $`=`$ $`\omega _i+\eta ^2\left[(I)_i+{\displaystyle \underset{1jm}{}}𝒬_{ji}z_j\overline{z}_j\right]+`$
$`\eta ^3{\displaystyle \underset{\genfrac{}{}{0pt}{}{2|k|+|a+\overline{a}|=5}{|a+\overline{a}|=3,5}}{}}R_{k,a,\overline{a}}(\varphi )k_iI^{ke_i}z^a\overline{z}^{\overline{a}}+O(\eta ^4),`$
$`\dot{z}_j`$ $`=`$ $`\mathrm{i}\mathrm{\Omega }_jz_j+\mathrm{i}\eta {\displaystyle \underset{|a+\overline{a}|=3}{}}R_{0,a,\overline{a}}^{}(\varphi )\overline{a}_jz^a\overline{z}^{\overline{a}e_j}+`$ (73)
$`\mathrm{i}\eta ^2\left[(𝒬I)_jz_j+{\displaystyle \underset{|a+\overline{a}|=4}{}}R_{0,a,\overline{a}}(\varphi )\overline{a}_jz^a\overline{z}^{\overline{a}e_j}\right]+`$
$`\mathrm{i}\eta ^3{\displaystyle \underset{\genfrac{}{}{0pt}{}{2|k|+|a+\overline{a}|=5}{|a+\overline{a}|=3,5}}{}}R_{k,a,\overline{a}}(\varphi )I^k\overline{a}_jz^a\overline{z}^{\overline{a}e_j}+O(\eta ^4),`$
for $`i=1,\mathrm{},n`$, $`j=1,\mathrm{},m`$.
Critical points of the Hamiltonian action functional

$$𝒜(I(t),\varphi (t),z(t),\overline{z}(t)):=_0^TI\dot{\varphi }+\mathrm{i}z\dot{\overline{z}}H(I(t),\varphi (t),z(t),\overline{z}(t))dt,$$
(74)
in a suitable space of $`T`$-periodic functions, are $`T`$-periodic solutions of (72).

### 4.1 The pseudo periodic solutions

We will find periodic solutions of the Hamiltonian system (72) close to periodic solutions of the integrable Hamiltonian

$$H_{int}:=\omega I+\frac{\eta ^2}{2}II+\mathrm{\Omega }z\overline{z}+\eta ^2𝒬Iz\overline{z}.$$
(75)
The manifold $`\{z=0\}`$ is invariant for the Hamiltonian system generated by $`H_{int}`$161616We recall the usual notation for the vector $`𝒬^Tz\overline{z}𝐑^n`$ whose components are $`(𝒬^Tz\overline{z})_i:=_{j=1}^m𝒬_{ji}I_iz_j\overline{z}_j`$, $`1in`$ and for the $`m\times m`$ diagonal matrix $`\mathrm{\Omega }+\eta ^2𝒬I:=`$ $`\mathrm{diag}`$ $`(\mathrm{\Omega }_1+\eta ^2(𝒬I)_1,\mathrm{},\mathrm{\Omega }_m+\eta ^2(𝒬I)_m)`$.

$$\dot{I}=0,\dot{\varphi }=\omega +\eta ^2(I+𝒬^Tz\overline{z}),\dot{z}=\mathrm{i}(\mathrm{\Omega }+\eta ^2𝒬I)z$$
(76)
and it is completely filled up by the invariant tori $`𝒯(I_0):=\{I=I_0,\varphi 𝐓^n,z=0\}`$. On $`𝒯(I_0)`$ the flow is $`t\{I_0,\varphi _0+(\omega +\eta ^2I_0)t,0\}`$ and in its normal space it is determined by $`\dot{z}=\mathrm{i}\mathrm{\Omega }_\eta (I_0)z`$ where $`\mathrm{\Omega }_\eta (I_0)`$ is the $`m\times m`$ diagonal matrix with real coefficients associated to the vector of the “shifted elliptic frequencies”

$$\mathrm{\Omega }_\eta (I_0):=\mathrm{\Omega }+\eta ^2𝒬I_0,$$
(77)
For any $`I_0𝐑^n`$, $`\mathrm{\Omega }_\eta (I_0)`$ is a real matrix, since $`𝒬`$ is real (see page 1).

For suitable $`T>0`$, $`I_0𝐑^n`$, $`k𝐙^n`$, namely when

$$\stackrel{~}{\omega }:=\omega +\eta ^2I_0=\frac{1}{T}2\pi k\frac{1}{T}2\pi 𝐙^n,$$
(78)
the torus $`𝒯(I_0)`$ is completely resonant, supporting the family of $`T`$-periodic motions

$$𝒫:=\left\{I(t)=I_0,\varphi (t)=\varphi _0+\stackrel{~}{\omega }t,z(t)=0\right\}.$$
(79)
The family $`𝒫`$ will not persist in its entirety for the complete Hamiltonian system (72). However, the non-resonance property (80) below, between the period $`T`$ and the “shifted elliptic frequenies” $`\mathrm{\Omega }_\eta (I_0)`$, is sufficient to prove the persistence of at least $`n`$ geometrically distinct $`T`$-periodic solutions of the Hamiltonian system (72), close to $`𝒫`$. Precisely, the required non resonance property is

$$:=(I_0,T):=\mathrm{𝟏}_me^{\mathrm{i}\mathrm{\Omega }_\eta (I_0)T}\mathrm{is}\mathrm{invertible}\mathrm{and}|^1(I_0,T)|\mathrm{const}.$$
(80)
Our aim is then to find $`I_0`$ and $`T`$ so that (78) and (80) hold: we will define $`I_0:=I_0(T)`$ in dependence on the “$`1`$-dimensional parameter” $`T`$ in such a way that (78) is identically satisfied and then we will find $`T`$ so that the non resonance property (80) holds. Moreover, for our perturbative arguments of Lemma 4.3, we want $`I_0=O(1)`$ and $`T<2/\eta ^2`$.

Define, for $`T1/\eta ^2`$,

$`I_0`$ $`:=`$ $`I_0(T):={\displaystyle \frac{2\pi }{\eta ^2T}}^1{\displaystyle \frac{\omega T}{2\pi }},`$ (81)
$`k`$ $`:=`$ $`k(T)={\displaystyle \frac{\omega T}{2\pi }}{\displaystyle \frac{\omega T}{2\pi }},`$ (82)
where $`(x_1,\mathrm{},x_n):=(x_1,\mathrm{},x_n)`$ and the function $`:𝐑[1/2,1/2)`$ is defined as $`x:=x`$ for $`x[1/2,1/2)`$ and it is $`1`$-periodically extended for $`x𝐑.`$ Notice that $`I_0𝐑^n`$ since $``$ is a real matrix (see page 1). With the choice (81),(82), $`\omega T+\eta ^2I_0(T)=2\pi k`$, and then (78) holds. In addition, for $`T1/\eta ^2`$, $`I_0(T)=O(1)`$. Moreover

$$\mathrm{\Omega }_\eta T=\mathrm{\Omega }_\eta (I_0(T))T=\mathrm{\Omega }T+\eta ^2𝒬I_0T=2\pi \left(\mathrm{\Omega }\frac{T}{2\pi }𝒬^1\omega \frac{T}{2\pi }\right).$$
(83)
In order to prove the non-resonance property (80), we note that

$$|^1|\frac{1}{\underset{1jm}{\mathrm{min}}|e^{\mathrm{i}\mathrm{\Omega }_{\eta j}T}1|}\frac{1}{\underset{1jm}{\mathrm{min}}|\mathrm{sin}(\mathrm{\Omega }_{\eta j}T)|}\frac{2}{\underset{1jm}{\mathrm{min}}\mathrm{dist}(\mathrm{\Omega }_{\eta j}T,2\pi 𝐙)}.$$
(84)
###### Lemma 4.1

Suppose that condition $`(a)`$ of Theorem 1.1 hold. Define, for $`\widehat{m}1`$,

$$d_0:=\mathrm{min}\{\frac{1}{4\underset{1j\widehat{m}}{\mathrm{max}}|a_j|_1},\frac{1}{4\underset{1j\widehat{m}}{\mathrm{max}}M_j}\},\delta :=\mathrm{min}\{\frac{d_0}{2\underset{1jm}{\mathrm{max}}|(𝒬^1)_j|_1},\frac{1}{4\underset{1j\widehat{m}}{\mathrm{max}}|a_j|_1}\}$$
(85)
where $`(𝒬^1)_j`$ is the $`j`$-row of the matrix $`𝒬^1`$, and, for $`\widehat{m}=0`$,

$$d_0:=\frac{1}{4},\delta :=\mathrm{min}\{\frac{1}{8\underset{1jm}{\mathrm{max}}|(𝒬^1)_j|_1},\frac{1}{4}\}.$$
(86)
Let $`M:=\mathrm{lcm}(M_1,\mathrm{},M_{\widehat{m}}),`$ for $`\widehat{m}1`$, and $`M=1`$ for $`\widehat{m}=0.`$ Finally let171717 The ergodization time $`T_{erg}`$ was defined in (10).

$$T_e:=T_{erg}(\frac{\widehat{\omega }}{M},\frac{\delta }{M}),\mathrm{\Theta }:=\mathrm{min}\{\frac{\delta }{4\underset{1in}{\mathrm{max}}|\omega _i|},\frac{d_0}{8\underset{1jm}{\mathrm{max}}|\mathrm{\Omega }_j|}\}.$$
(87)
Then $`t_00,`$ there exists an interval $`𝒥[t_02\pi \mathrm{\Theta },t_0+2\pi T_e+2\pi \mathrm{\Theta }]`$ of length, at least $`4\pi \mathrm{\Theta }`$, such that $`T𝒥`$, $`^1:=^1(I_0(T),T)`$ satisfies

$$|^1|\frac{4}{\pi d_0}.$$
(88)
Proof: In order to define the periods $`T`$ we want to use Lemma 2.3. Let us verify that its hypothesis are fulfilled. If $`(\omega ,\mathrm{\Omega })`$ are rationally independent, i.e. $`\widehat{m}=0`$, we can apply it directly. If $`\widehat{m}=1`$ we observe that (11) holds by definition, since $`M_j1=\widehat{m}.`$ If $`\widehat{m}=1=M_1`$ we have also to show that (12) is satisfied. This is true: indeed, by contradiction, if (12) were false then $`\mathrm{\Omega }_1=_{i=1}^na_{1i}\omega _i`$ violating the first order Melnikov condition (namely (4) with $`|h|1`$). If $`m=1`$ then $`\widehat{m}=0,1`$ and we are in one of the previous cases. We finally consider the case $`\widehat{m}2`$. We have to prove (11). Note first that it is verified for $`m=2`$. Indeed in this case $`\widehat{m}=2`$ and, hence, $`\widehat{\omega }=\omega `$. By definition $`M_j\mathrm{\Omega }_j=a_j\omega `$ for $`j=1,2.`$ Again by the first order Melnikov condition we have, for $`j=1,2`$, that $`M_j2`$ which implies $`M_j2=\widehat{m}`$ and (11) holds. All the remanent cases are covered by the hypotesis $`(iii)`$. We can apply Lemma 2.3.

Let $`t_0\tau t_0+T_e`$ be the time found in Lemma 2.3 and consider the interval $`𝒥:=2\pi \tau +2\pi [\mathrm{\Theta },\mathrm{\Theta }][t_02\pi \mathrm{\Theta },t_0+2\pi T_e+2\pi \mathrm{\Theta }]`$. $`T=2\pi \tau +2\pi \theta 𝒥`$ (i.e. $`|\theta |\mathrm{\Theta }`$) formula (83) becomes

$$\mathrm{\Omega }_{\eta j}T=2\pi \left(\mathrm{\Omega }_j(\tau +\theta )(𝒬^1)_j\omega (\tau +\theta )\right)1jm.$$
(89)
By (13), $`\mathrm{\hspace{0.17em}1}in`$ there exists a $`k_i𝐙`$ such that $`\omega _i\tau =k_i+\omega _i\tau `$ with $`|\omega _i\tau |\delta `$; moreover $`|\omega _i\theta |\delta /4`$ by definition of $`\mathrm{\Theta }`$. Hence we have $`|\omega _i(\tau +\theta )k_i|\delta +\delta /4<1/2`$ being $`\delta 1/4`$. So $`\omega _i(\tau +\theta )`$ $`=\omega _i(\tau +\theta )k_i`$ and

$$|\omega _i(\tau +\theta )|\frac{5}{4}\delta ,\mathrm{\hspace{0.17em}1}in.$$
(90)
For $`1jm,`$ by (14) we have dist$`(\mathrm{\Omega }_j\tau ,𝐙)d_0,`$ hence, by the definition of $`\mathrm{\Theta },`$ dist$`(\mathrm{\Omega }_j(\tau +\theta ),𝐙)d_0d_0/8.`$ Collecting the previous inequalities and (90), from (89) we obtain

$$\mathrm{dist}(\mathrm{\Omega }_{\eta j}T,2\pi 𝐙)=2\pi \mathrm{dist}(\mathrm{\Omega }_j(\tau +\theta )(𝒬^1)_j\omega (\tau +\theta ),𝐙)2\pi (d_0\frac{d_0}{8}\frac{5d_0}{8})=\frac{\pi d_0}{2}$$

by definition of $`\delta `$. Finally, we recall (84) to end the proof. $`\mathrm{}`$

###### Lemma 4.2

Let condition $`(b)`$ of Theorem 1.1 hold, namely $`\alpha >0`$. Let

$$\theta :=\underset{1in}{\mathrm{min}}\frac{1}{|\omega _i|}\mathrm{and}d_1:=\mathrm{min}\{\frac{\pi }{8m},\frac{\pi \alpha \theta }{2nm}\}.$$

Then $`t_00`$ there exists an open set $`𝒜[t_0,t_0+4\pi \theta ]`$ of measure, at least, $`\pi \theta /n`$, such that $`T𝒜`$, $`^1:=^1(I_0(T),T)`$ satisfies

$$|^1|\frac{2}{d_1}.$$
(91)
Proof: The function $`T\mathrm{\Omega }_\eta (I_0(T))T`$ is a piecewise smooth function with discontinuities at the points $`T_{i,k}=\frac{2\pi }{\omega _i}(k+\frac{1}{2})`$, $`1in`$, $`k𝐙.`$ Apart these points $`\mathrm{\Omega }_\eta (I_0(T))T`$ is differentiable w.r.t. to $`T`$ and has constant derivative $`\mathrm{\Omega }𝒬^1\omega =:\xi 𝐑^m`$. By the definition of $`\theta `$, in every interval of the type $`(2\pi \theta (h1/2),2\pi \theta (h+1/2))`$, $`h𝐙`$, fall at most $`n1`$ points of discontinuity and, hence, there exists an interval $`𝒥_1(2\pi \theta (h1/2),2\pi \theta (h+1/2))`$ of length, at least, $`\mathrm{\Delta }:=2\pi \theta /n,`$ in which $`\mathrm{\Omega }_\eta (I_0(T))T`$ is smooth. Hence, on $`𝒥_1`$, by (83), $`\mathrm{\Omega }_\eta T=x+\xi T`$ for a suitable $`x𝐑^m.`$

For $`1jm`$, let define the sets

$$_j:=\{\begin{array}{cc}\{T𝒥_1\mathrm{s}.\mathrm{t}.\mathrm{dist}(\mathrm{\Omega }_{\eta j}T,2\pi 𝐙)>\frac{\pi }{8m}\}& \mathrm{if}|\xi _j|\mathrm{\Delta }\pi \\ & \\ \{T𝒥_1\mathrm{s}.\mathrm{t}.\mathrm{dist}(\mathrm{\Omega }_{\eta j}T,2\pi 𝐙)>\frac{\mathrm{\Delta }}{4m}\alpha \}& \mathrm{if}|\xi _j|\mathrm{\Delta }<\pi \end{array}.$$

Remembering the definition $`\alpha :=\mathrm{min}_{1jm}|\xi _j|,`$ we note that meas$`(_j)\mathrm{\Delta }(1\frac{1}{2m})`$, $`1jm`$. Let $`𝒜:=_{j=1}^m_j,`$ then $`𝒜𝒥_1`$ and meas$`(𝒥_1)\mathrm{\Delta }/2.`$ By construction $`T𝒜`$, dist$`(\mathrm{\Omega }_{\eta j}T,2\pi 𝐙)d_1`$, $`\mathrm{\hspace{0.17em}1}jm.`$ Finally the Lemma follows from (84). $`\mathrm{}`$

###### Remark 4.1

Our non resonance conditions $`(a)`$$`(b)`$ of Theorem 1.1 are sharp: if $`(a)`$$`(b)`$ are violated, it is not possible in general to find a period $`T`$ is such a way that the matrix $``$ defined in (80)–(83) is invertible (clearly it must be $`m3`$ and $`\widehat{m}1`$). As an example, consider the Hamiltonian $`_{}=`$

$$\omega _{}+\mathrm{\Omega }Z_{}\overline{Z}_{}+\frac{1}{2}|_{}|^2+\frac{1}{p}\underset{j=1}{\overset{\widehat{m}}{}}(a_{j1}_1+a_{j2}_2)Z_j\overline{Z}_j+\underset{2|k|+|a+\overline{a}|6}{}R_{k,a,\overline{a}}^{}(\phi _{})_{}^kZ_{}^a\overline{Z}_{}^{\overline{a}},$$

with $`m4`$ ($`\widehat{m}m`$) and

$$a_{j1}:=\{\begin{array}{cc}1& \mathrm{if}1j\widehat{m}1\\ 0& \mathrm{if}j=\widehat{m}\end{array},a_{j2}:=\{\begin{array}{cc}j& \mathrm{if}1j\widehat{m}1\\ 1& \mathrm{if}j=\widehat{m}\end{array}.$$

The Hamiltonian $`_{}`$ is in the form (1)–(5). We choose $`\widehat{m}`$ so that $`p:=\widehat{m}1`$ is a prime integer with $`3pm1`$ (we require $`p1,2`$ since $`(\omega ,\mathrm{\Omega })`$ must satisfy the second order Melnikov non-resonance conditions (4) and $`(\omega ,\mathrm{\Omega })`$ are related by (92) below). Let also $`\widehat{\omega }=(\omega ,\mathrm{\Omega }_{\widehat{m}+1},\mathrm{},\mathrm{\Omega }_m)`$ be any rationally independent vector in $`𝐑^{\widehat{n}}`$ and define

$$\mathrm{\Omega }_j:=\frac{1}{p}(a_{j1}\omega _1+a_{j2}\omega _2),1j\widehat{m}.$$
(92)
Note that, by (92), the equations (5) are fulfilled with $`M_j=p`$, $`1j\widehat{m}`$. Hence $`M_j=p=\widehat{m}1<\widehat{m}`$ and condition $`(a)(iii)`$ is violated. After the rescaling in (26), the new Hamiltonian is $`=\omega +\mathrm{\Omega }Z\overline{Z}+\eta ^2(\frac{1}{2}||^2+𝒬IZ\overline{Z})+O(\eta ^4)`$ where $`𝒬\mathrm{Mat}(m\times n,𝐑)`$ is defined by

$$𝒬_{ji}=\{\begin{array}{cc}a_{ji}/p& \mathrm{if}1j\widehat{m},i=1,2,\\ 0& \mathrm{elsewhere}.\end{array}$$

Since the Hamiltonian $``$ does not contain terms of the form (28)–(29)-(30)-(31), $``$ is yet in the normal form (32) (i.e. (71)) with $`=\mathrm{𝟏}_n`$. Therefore $`(\mathrm{\Omega }𝒬^1\omega )_j=(\mathrm{\Omega }𝒬\omega )_j=0`$, $`1j\widehat{m}`$, by (92), and also condition $`(b)`$ is violated. Now, whatever we choose $`T𝐑`$, $`I_0𝐑^n`$, $`n𝐙^n`$ such that $`\omega +\eta ^2I_0=2\pi n/T`$, i.e. (78) is satisfied, we get, substituing $`I_0=\eta ^2^1((2\pi n/T)\omega )`$ into (77), $`\mathrm{\Omega }_\eta (I_0)T=(\mathrm{\Omega }𝒬\omega )T+2\pi 𝒬n`$. Hence, $`1jm`$

$$\mathrm{\Omega }_{\eta j}T=\mathrm{\Omega }_{\eta j}(I_0)T=2\pi (𝒬_{j1}n_1+𝒬_{j2}n_2).$$

We claim that, for all $`n_i𝐙`$, at least one $`\mathrm{\Omega }_{\eta j}T`$ is an integer multiple of $`2\pi `$ and hence the matrix $`:=\mathrm{𝟏}_me^{\mathrm{i}\mathrm{\Omega }_\eta T}`$ has a zero eigenvalue. In fact,

$$𝒬_{j1}n_1+𝒬_{j2}n_2=\{\begin{array}{cc}(n_1+n_2j)/p& \mathrm{if}1jp,\\ n_2/p& \mathrm{if}j=\widehat{m}.\end{array}$$

Thus, if $`n_2`$ is a multiple of $`p`$, then $`\mathrm{\Omega }_{\eta \widehat{m}}T2\pi 𝐙`$. Otherwise, let $`j^{}`$ be the unique solution of the linear congruence $`n_2j^{}n_1`$ $`\mathrm{mod}p`$ (recall that $`p`$ is prime). In this case $`\mathrm{\Omega }_{\eta j^{}}T2\pi 𝐙`$. In both cases $``$ is not invertible.

In the next Lemma we prove the existence of suitable pseudo $`T`$-periodic solutions of the Hamiltonian system (4) close to the manifold $`𝒫`$. Roughly, by the “twist condition” det$`0`$ and the nonresonance property (80), the manifold $`𝒫`$ is “non-degenerate”, i.e. the only $`T`$-periodic solutions of $`H_{int}`$, close to $`𝒫`$, are the set $`𝒫`$. This implies, by the Contraction Mapping Theorem, the existence of a manifold of pseudo $`T`$-periodic solutions $`\zeta _{\varphi _0}`$, close to $`𝒫`$, diffeomorphic to $`𝐓^n`$. $`\zeta _{\varphi _0}`$ are solutions of (72) for all $`t(0,T)`$ and satisfy $`\varphi (T)=\varphi (0)=\varphi _0`$, $`z(T)=z(0)`$ but it may happen that $`I(T)I(0)`$.

###### Lemma 4.3

Assume that Condition $`(a)`$ or $`(b)`$ of Theorem 1.1 holds. Then, there exist $`\eta _0`$, $`C_0,C>0`$, such that: $`\eta (0,\eta _0]`$, there exist an open set $`𝒜_\eta [\frac{1}{\eta ^2},\frac{1}{\eta ^2}+C_0]`$ of measure greater than $`1/C_0`$ such that $`T𝒜_\eta `$ and $`\varphi _0𝐓^n`$ there exists a unique function

$$\zeta _{\varphi _0}:=(I_{\varphi _0},\varphi _{\varphi _0},z_{\varphi _0})C([0,T],𝐑^n\times 𝐓^n\times 𝐂^m)C^1((0,T),𝐑^n\times 𝐓^n\times 𝐂^m),$$

smooth in $`\varphi _0`$, such that

* ($`i`$) $`\zeta _{\varphi _0}(t)`$ solves (72) for all $`t(0,T)`$;
* ($`ii`$) $`\zeta _{\varphi _0}`$ satisfies $`\varphi _{\varphi _0}(0)=\varphi _{\varphi _0}(T)=\varphi _0`$, $`z_{\varphi _0}(0)=z_{\varphi _0}(T)`$;
* ($`iii`$) $`sup_{t[0,T]}\left(|I_{\varphi _0}(t)I_0|+|\varphi _{\varphi _0}(t)\varphi _0\stackrel{~}{\omega }t|+|z_{\varphi _0}(t)|\right)C\eta ^2.`$

where $`I_0:=I_0(T)`$ is defined in (81) and $`\stackrel{~}{\omega }:=\stackrel{~}{\omega }(T):=\omega +\eta ^2I_0.`$

Proof: In order to define the set $`𝒜_\eta [\frac{1}{\eta ^2},\frac{1}{\eta ^2}+C_0]`$ of “non-resonant” periods $`T`$, we use Lemmata 4.1 or 4.2 (according whether condition $`(a)`$ or $`(b)`$ of Theorem 1.1 holds) with $`t_0:=\eta ^2`$. $`T𝒜_\eta `$ we look for a solution $`\zeta _{\varphi _0}`$ of (4) (i.e. (72)) of the form

$$I_{\varphi _0}(t)=I_0+\eta J(t),\varphi _{\varphi _0}(t)=\varphi _0+\stackrel{~}{\omega }t+\eta \psi (t),z_{\varphi _0}(t)=\eta w(t),$$
(93)
for suitable functions ($`J`$, $`\psi `$, $`w`$) : $`[0,T]𝐑^n\times 𝐓^n\times 𝐂^m`$ satisfying $`\psi (0)=\psi (T)=0`$ and $`w(0)=w(T)`$. The condition $`\psi (0)=0`$ is a “tranversality condition”: we impose the “correction” $`(J,\psi ,w)`$ to belong to a supplementary linear space to the tangent space of the unperturbed manifold $`𝒫`$ (see \[BB\] for a discussion of the different supplementary spaces). The functions ($`J`$, $`\psi `$, $`w`$) must satisfy the system

$`\dot{J}`$ $`=`$ $`O(\eta ^3),`$ (94)
$`\dot{\psi }\eta ^2J`$ $`=`$ $`O(\eta ^3),`$ (95)
$`\dot{w}_j\mathrm{i}\mathrm{\Omega }_{\eta j}w_j`$ $`=`$ $`\mathrm{i}\eta ^2{\displaystyle \underset{|a+\overline{a}|=3}{}}R_{0,a,\overline{a}}^{}(\varphi _0+\stackrel{~}{\omega }t)\overline{a}_jw^a\overline{w}^{\overline{a}e_j}+O(\eta ^3),j=1,\mathrm{},m`$ (96)
where $`\mathrm{\Omega }_\eta =\mathrm{\Omega }_\eta (I_0(T))\mathrm{Mat}(m\times m,𝐑)`$ is the real diagonal matrix defined in (77).

In order to find $`(J,\psi ,w)`$ we use Lemmata 2.4 and 2.5. In connection with the notation of Lemma 2.5 we have here $`M=\eta ^2`$ and $`=\mathrm{𝟏}_me^{\mathrm{i}\mathrm{\Omega }_\eta T}`$. Let $`L`$ denote the corresponding Green operator in (24) and $`P:=P(J,\psi ,w;\varphi _0)`$ the right hand side of (94),(95),(96). It is sufficient to find a fixed point $`(J,\psi ,w)X`$, space defined in (23), of

$$(J,\psi ,w)=L\left(P(J,\psi ,w;\varphi _0)\right).$$
(97)
If $`T`$ is obtained in Lemma 4.1, resp. Lemma 4.2, we have, by (91), resp. (88), that $`|^1|2/d_1`$, resp. $`|^1|4/\pi d_0`$. Moreover $`|M|=O(\eta ^2)`$, $`|e^{\mathrm{i}\mathrm{\Omega }_\eta }|=|\mathrm{diag}\{e^{\mathrm{i}\mathrm{\Omega }_{\eta j}}\}|m`$, $`T=O(\eta ^2)`$ and, hence, from (25), we get the estimate on the Green operator $`|L|C^{}\eta ^2`$ for some $`C^{}>0`$. Moreover $`P(0;\varphi _0)=O(\eta ^3)`$. Then, for a constant $`C`$ large enough we have $`\delta _0:=C\eta 2|L(P(0))|`$. Finally, since $`sup_{B_{\delta _0}}|DP|=O(\eta ^3),`$ for $`\eta `$ small enough, we verify also (21). Applying Lemma 2.4 in the ball $`B_{\delta _0}`$ we prove the existence of a solution $`\zeta _{\varphi _0}`$ satisfying $`\zeta _{\varphi _0}C\eta `$, and hence, by (93), we get the estimate ($`iii`$).

Since $`\zeta _{\varphi _0}X`$ solves the integral system (97), $`\zeta _{\varphi _0}(t)`$ is actually $`C^1`$ for all $`t(0,T)`$ and solves (72).

Finally, since the operator $`\varphi _0LP(J,\psi ,w;\varphi _0)`$ is smooth, by the Implicit Function Theorem, we also deduce that the function $`\varphi _0\zeta _{\varphi _0}`$ is $`C^1`$. $`\mathrm{}`$

###### Remark 4.2

The terms (28), (29), (30), (31), that have been “averaged out” in Proposition 3.1, could not have been treated perturbatively in the previous Lemma. Indeed (28) (resp. (31)) would have given rise to a term $`O(1)`$ (resp. $`O(\eta ^2)`$) in (96); (29) to a term $`O(\eta )`$ in (94); and (30) to a term $`O(\eta ^2)`$ in (96). Roughly speaking, since the period $`T1/\eta ^2`$, only terms of magnitude $`o(\eta ^2)`$ can be dealt as perturbations.

###### Remark 4.3

The invertibility of the twist matrix $``$ has been used in two ways: to modulate the frequency $`\omega `$ yielding the existence of nearby resonant frequencies, see (78), and to imply that the manifold $`𝒫`$ is non-degenerate (together with the non-resonance property (80)). Weaker conditions could in principle be used (if the elliptic variables were absent think to \[CZ1\]). However, in this case, when $``$ is degenerate one is forced to study the higher order terms in the normal form of Proposition 3.1 making the perturbative analysis much more difficult. Moreover in the three body problem application we will prove that $``$ is invertible, see Lemma 5.1.

###### Remark 4.4

When $`m=0`$, namely in the case of maximal tori, the twist matrix $``$ reduces simply to the matrix of the second derivatives of $`_{}`$ w.r.t. the action variables $`_{}`$. This is not the case when $`m0`$. Consider the Hamiltonian $`_{}=`$ $`\omega _{}+`$ $`\mathrm{\Omega }Z_{}\overline{Z}_{}+`$ $`_{}(Z_{}+\overline{Z}_{})+`$ $`_{}^2/\mathrm{\Omega }`$ where $`(_{},\phi _{})𝐑\times 𝐓`$, $`(Z_{},\overline{Z}_{})𝐂^2`$ and $`\mathrm{\Omega }>0`$. The twist matrix in (7) turns out to be $`=0`$ although the second derivative of $`_{}`$ w.r.t. $`_{}`$ equals to $`2/\mathrm{\Omega }0`$. Heuristically, for lower dimensional elliptic tori, the twist matrix $``$ takes into account, with the second addendum in the r.h.s. of (7), the interaction between the torus variables $`(_{},\phi _{})`$ and the elliptic variables $`Z_{}`$. Finally observe that the symplectic map $`_{}=I,`$ $`\phi _{}=\varphi +(z\overline{z})/(\mathrm{i}\mathrm{\Omega }),`$ $`Z_{}=zI/\mathrm{\Omega }`$ (which can be found through the averaging procedure of section 3) transforms $``$ into the isochronous Hamiltonian $`H=\omega I+\mathrm{\Omega }z\overline{z}`$.

### 4.2 The variational principle

We now define the “reduced Hamiltonian action functional” $`:𝐓^n𝐑`$ as the Hamiltonian action functional $`𝒜`$ evaluated on the pseudo $`T`$-periodic solutions $`\zeta _{\varphi _0}`$ obtained in Lemma 4.3, namely181818$`(\varphi _0)𝐑`$ since $`_0^T`$ Im $`(\mathrm{i}z_{\varphi _0}\dot{\overline{z}}_{\varphi _0})dt=`$ $`_0^T`$ Re $`(z_{\varphi _0}\dot{\overline{z}}_{\varphi _0})dt`$ $`=_0^T\frac{1}{2}\frac{d}{dt}(z_{\varphi _0}\overline{z}_{\varphi _0})𝑑t=0`$.

$$(\varphi _0):=𝒜(I_{\varphi _0},\varphi _{\varphi _0},z_{\varphi _0},\overline{z}_{\varphi _0})=_0^TI_{\varphi _0}\dot{\varphi }_{\varphi _0}+\mathrm{i}z_{\varphi _0}\dot{\overline{z}}_{\varphi _0}H(I_{\varphi _0},\varphi _{\varphi _0},z_{\varphi _0},\overline{z}_{\varphi _0})dt.$$
(98)
By Lemma 4.3 the reduced action functional $``$ is smooth in $`\varphi _0`$.

Critical points of $`:𝐓^n𝐑`$ give rise to $`T`$-periodic solutions of the Hamiltonian system (72), according to the following Lemma:

###### Lemma 4.4

$`_{\varphi _0}(\varphi _0)=I_{\varphi _0}(T)I_{\varphi _0}(0)`$. Hence, if $`\varphi ^{}𝐓^n`$ is a critical point of $``$, then $`\zeta _\varphi ^{}(t)`$ can be extended to a $`T`$-periodic solution of the Hamiltonian system (72).

Proof: Differentiating w.r.t. $`\varphi _0`$ in (98) we get

$`_{\varphi _0}(\varphi _0)`$ $`=`$ $`{\displaystyle _0^T}_{\varphi _0}I_{\varphi _0}\dot{\varphi }_{\varphi _0}+I_{\varphi _0}_{\varphi _0}\dot{\varphi }_{\varphi _0}+\mathrm{i}_{\varphi _0}z_{\varphi _0}\dot{\overline{z}}_{\varphi _0}+\mathrm{i}z_{\varphi _0}_{\varphi _0}\dot{\overline{z}}_{\varphi _0}`$
$``$ $`_IH_{\varphi _0}I_{\varphi _0}_\varphi H_{\varphi _0}\varphi _{\varphi _0}_zH_{\varphi _0}z_{\varphi _0}_{\overline{z}}H_{\varphi _0}\overline{z}_{\varphi _0}dt`$
$`=`$ $`I_{\varphi _0}(T)_{\varphi _0}\varphi _{\varphi _0}(T)I_{\varphi _0}(0)_{\varphi _0}\varphi _{\varphi _0}(0)+\mathrm{i}_{\varphi _0}\overline{z}_{\varphi _0}(T)z_{\varphi _0}(T)\mathrm{i}_{\varphi _0}\overline{z}_{\varphi _0}(0)z_{\varphi _0}(0),`$
by an integration by parts, and since $`\zeta _{\varphi _0}(t)`$ satisfies the Hamilton’s equations (72) in $`(0,T)`$. Moreover, since $`\varphi _0𝐓^n`$, $`\varphi _{\varphi _0}(T)=\varphi _{\varphi _0}(0)=\varphi _0`$ and $`\overline{z}_{\varphi _0}(T)=\overline{z}_{\varphi _0}(0)`$, deriving w.r.t. $`\varphi _0`$, we get $`_{\varphi _0}\varphi _{\varphi _0}(T)=_{\varphi _0}\varphi _{\varphi _0}(0)=\mathrm{𝟏}_n`$ and $`_{\varphi _0}\overline{z}_{\varphi _0}(T)=_{\varphi _0}\overline{z}_{\varphi _0}(0)`$. This implies $`_{\varphi _0}(\varphi _0)=I_{\varphi _0}(T)I_{\varphi _0}(0)`$. Hence, if $`\varphi ^{}𝐓^n`$ is a critical point of $``$, $`\zeta _\varphi ^{}(T)=\zeta _\varphi ^{}(0)`$ and we deduce that $`\zeta _\varphi ^{}(t)`$ can be extended to a $`T`$-periodic solution of the Hamiltonian system (72). $`\mathrm{}`$

The following Lemma, which is a consequence of the autonomy of the Hamiltonian $`H`$, holds.

###### Lemma 4.5

$`\varphi _0𝐓^n`$ there exists $`V(\varphi _0,\eta )𝐑^n`$ with $`V(\varphi _0,\eta )=\stackrel{~}{\omega }+O(\eta ^3)`$ such that

$$V(\varphi _0,\eta )_{\varphi _0}(\varphi _0)=0,\varphi _0𝐓^n.$$
(99)
Proof: Since $`\zeta _{\varphi _0}=(I_{\varphi _0},\varphi _{\varphi _0},z_{\varphi _0})`$ satisfies the Hamiltonian system (72) in $`(0,T)`$ and $`\varphi _{\varphi _0}(T)=\varphi _{\varphi _0}(0)=\varphi _0`$, $`z_{\varphi _0}(T)=z_{\varphi _0}(0)`$, then

$$H(I_{\varphi _0}(T),\varphi _0,z_{\varphi _0}(0),\overline{z}_{\varphi _0}(0))=H(I_{\varphi _0}(0),\varphi _0,z_{\varphi _0}(0),\overline{z}_{\varphi _0}(0)).$$
(100)
By the mean value Theorem there exists $`\xi _{\varphi _0}`$ in the segment between $`[I_{\varphi _0}(T),I_{\varphi _0}(0)]`$ such that

$$_IH(\xi _{\varphi _0},\varphi _0,z_{\varphi _0}(0),\overline{z}_{\varphi _0}(0))[I_{\varphi _0}(T)I_{\varphi _0}(0)]=0.$$
(101)
Define $`V(\varphi _0,\eta ):=_IH(\xi _{\varphi _0},\varphi _0,z_{\varphi _0}(0),\overline{z}_{\varphi _0}(0))`$. By Lemma 4.4 and (101), formula (99) follows. Finally, since $`I_{\varphi _0}(T)I_0=I_{\varphi _0}(0)I_0=O(\eta ^2)`$, $`z_{\varphi _0}(0)=O(\eta ^2)`$ and $`_IH=`$ $`\omega +`$ $`\eta ^2I+`$ $`\eta ^2𝒬^Tz\overline{z}+`$ $`O(\eta ^3)`$, we deduce the estimate $`V(\varphi _0,\eta )=\stackrel{~}{\omega }+O(\eta ^3)`$. $`\mathrm{}`$

Proof of Theorem 1.1: By Lemma 4.4 the absolute minimum (and maximum) $`\varphi ^{}𝐓^n`$ gives rise to a $`T`$-periodic solution $`\zeta _\varphi ^{}`$ of (72). However one expects the existence of at least $`n`$ geometrically distinct $`T`$-periodic solutions of (72), i.e. solutions not obtained one from each other simply by time-translations.

In order find multiple geometrically distinct periodic solutions of (72) we restrict the reduced action function $``$ to the plane $`E:=[\stackrel{~}{\omega }]^{}`$ orthogonal to the periodic flow $`\stackrel{~}{\omega }=(1/T)2\pi k`$ with $`k𝐙^n`$. The set $`𝐙^nE`$ is a lattice of $`E`$, (see for example Lemma 8.2 of \[BBB\]) and hence $``$ can be defined on the quotient space $`\mathrm{\Gamma }:=E/(𝐙^nE)𝐓^{n1}`$.

A critical point $`\varphi ^{}`$ of $`:\mathrm{\Gamma }𝐑`$ is a critical point of $`:𝐓^n𝐑`$. Indeed, since the tangent space $`T_{\varphi _0}\mathrm{\Gamma }=[\stackrel{~}{\omega }]^{}`$, then

$$_{\varphi _0}(\varphi ^{})=\lambda (\varphi ^{})\stackrel{~}{\omega }$$
(102)
for some Lagrange multiplier $`\lambda (\varphi ^{})𝐑`$. (102) and Lemma 4.5 imply that $`\lambda (\varphi ^{})(|\stackrel{~}{\omega }|^2+O(\eta ^3))=0`$ and so, for $`\eta `$ small, $`\lambda (\varphi ^{})=0`$.

By the Lusternik-Schnirelman category theory, see for example \[Am\], since cat$`\mathrm{\Gamma }`$ = cat$`𝐓^{n1}`$ = $`n`$, we can define the $`n`$ min-max critical values $`c_1c_2\mathrm{}c_n`$ for the reduced action functional $`_{|\mathrm{\Gamma }}`$. Let $`\varphi _1^{},\mathrm{},\varphi _n^{}\mathrm{\Gamma }`$ be $`n`$ corresponding critical points. If the critical levels $`c_i`$ are all distinct, the $`T`$-periodic solutions $`\zeta _{\varphi _i^{}}(t)=`$ $`(I_0,\varphi _i^{}+\stackrel{~}{\omega }t,0)+O(\eta ^2)`$ of (72) are geometrically distinct, since their actions $`𝒜(\zeta _{\varphi _i^{}})=(\varphi _i^{})=c_i`$ are different. On the other hand, if some min-max critical level $`c_i`$ coincide, then $`_{|\mathrm{\Gamma }}`$ possesses infinitely many critical points. However not all the corresponding $`T`$-periodic solutions of (72) are necessarily geometrically distinct, since two different critical points could belong to the same orbit. In any case, since one periodic solution can cross $`\mathrm{\Gamma }`$ at most a finite number of times, the existence of infinitely many geometrically distinct orbits of (72) follows191919 Non-degenerate critical points of the Poincaré-Melnikov primitive $`\varphi _0_0^T(HH_{int})(I_0,\varphi _0+\stackrel{~}{\omega }t,0)𝑑t`$ could be continued to solutions of (72). However, it is very difficult to compute this function, its critical points and check whether they are non-degenerate (if ever true)..

Finally, under the inverse transformation of $`\mathrm{\Phi }`$, defined in Proposition 3.1, $`\eta `$-close to the identity and the inverse transformation of (26), we find the $`T`$-periodic solutions $`\zeta _\eta `$ of Theorem 1.1 satisfying the estimates ($`i`$)-($`ii`$).

The statement on the minimal period descends from the following Proposition. $`\mathrm{}`$

###### Proposition 4.1

Let $`\zeta (t)=(I(t),\varphi (t),z(t))`$ be a $`T`$-periodic solution of (4) with $`C\eta ^2`$ $``$ $`T`$ $`T_0`$ for some $`T_0`$ large, independent of $`\eta `$. Then the minimal period $`T_{min}`$ of $`\zeta `$ satisfies $`T_{min}\mathrm{const}`$ $`T^{1/(\tau +1)}.`$

Proof: Since $`\zeta `$ is $`T`$-periodic, $`\varphi (T)\varphi (0)=2\pi k`$ for some $`k𝐙^n.`$ We claim that $`T_{min}T/g`$ where $`g:=\mathrm{gcd}(k_1,\mathrm{}k_n)`$. Indeed $`T_{min}T_{min}^\varphi `$ where $`T_{min}^\varphi `$ is the minimal period of $`\varphi (t)`$. Moreover $`T_{min}^\varphi =T/n`$ for some integer $`n1`$ and $`\varphi (T_{min})\varphi (0)=2\pi \stackrel{~}{k}`$ for some $`\stackrel{~}{k}𝐙^n`$. It follows that $`\stackrel{~}{k}n=k`$ and so $`ng`$, proving the claim.

By the second equation in (4) we also have $`\varphi (T)\varphi (0)=\omega T+O(\eta ^2T)`$ and then, letting $`\widehat{k}:=k/g𝐙^n`$, $`2\pi g\widehat{k}=\omega T+O(\eta ^2T)`$. We deduce that

$$T_{min}\frac{T}{g}\frac{2\pi }{|\omega |}|\widehat{k}|O\left(\frac{\eta ^2T}{|\omega |g}\right)\frac{2\pi }{|\omega |}|\widehat{k}|O\left(\frac{C}{|\omega |}\right),$$
(103)
since $`\eta ^2TC`$. Let now choose $`h𝐙^n\{0\}`$ with $`|h||\widehat{k}|`$ such that $`\widehat{k}h=0`$. Multiplying by $`h`$ we get $`0=2\pi g\widehat{k}h=\omega hT+O(\eta ^2T|h|)`$ ans so $`\omega h=O(\eta ^2|h|).`$ Using the diophantinity of $`\omega `$ assumed in (4), namely $`|\omega h|\gamma (1+|h|)^\tau `$, $`h𝐙^n`$, we obtain $`|h|^{\tau +1}\mathrm{const}`$ $`\eta ^2`$ $`\mathrm{const}T`$. Hence $`|\widehat{k}|^{\tau +1}|h|^{\tau +1}`$ $`\mathrm{const}T`$ and $`|\widehat{k}|\mathrm{const}T^{1/(\tau +1)}.`$ The proposition follows from (103) for $`TT_0`$ large enough. $`\mathrm{}`$

###### Remark 4.5

The periodic orbits $`\zeta _\eta `$ found in Theorem 1.1 are $`O(\eta ^2)`$ close to the torus $`𝒯`$ since $`I_0`$, defined in (81), satisfies $`I_0=O(1)`$. We could also try to find periodic solutions when e.g. $`I_0=O(1/\eta )`$ and so $`T=O(1/\eta )`$. However the terms $`O(I^k)=O(\eta ^k)`$ would be more difficult to control.

## 5 The planetary spatial three-body problem

In this section we will prove the existence of periodic orbits of the planetary non planar three body problem, with “small eccentricities” and “small mutual inclinations”, accumulating onto two-dimensional elliptic invariant tori. We first discuss the classical Hamiltonian formulation of this problem which dates back to Delaunay and Poincaré. For a detailed treatment see the Appendix of \[BCV\].

The three massive points (“bodies”) $`P_0,P_1,P_2`$, with masses $`m_0,m_1,m_2`$, interact one each other through gravity (with constant of gravitation 1). Assume that the masses of the bodies satisfy, for some $`0<\overline{\kappa }1`$,

$$\overline{\kappa }\epsilon \frac{m_1}{m_0},\frac{m_2}{m_0}\epsilon 1.$$
(104)
The number $`\epsilon >0`$ is regarded as a small parameter: the point $`P_0`$ represents “the star” and the points $`P_1`$ and $`P_2`$ “the planets”.

We now recall the classical definition of the “osculating ellipses” (at time $`t_0`$) of the two-body problems associated to the planets $`P_i`$ ($`i=1,2`$) and the star $`P_0`$. Let $`u^{(0)}`$ and $`u^{(i)}`$ denote the coordinates of the points $`P_0`$ and $`P_i`$ at time $`t_0`$ and let $`\dot{u}^{(0)}`$ and $`\dot{u}^{(i)}`$ denote the respective velocities. The “osculating plane” is defined as the plane spanned by $`(u^{(i)}u^{(0)})`$ and $`(\dot{u}^{(i)}\dot{u}^{(0)})`$; the “osculating ellipse” is defined as the Keplerian ellipse (lying on the osculating plane) defined by the Kepler solution, with initial data $`(u^{(0)},u^{(i)})`$ and $`(\dot{u}^{(i)}\dot{u}^{(0)})`$, of the two-body problem $`(P_0,P_i)`$ obtained disregarding (for $`tt_0`$) the third body $`P_j`$ ($`ji`$).

We assume that the eccentricities of such ellipses are small and that the intersection angle between the two planes containing the two osculating ellipses (usually referred as “mutual inclination”) is also small. It is customary in celestial mechanics to denote the major semi-axes of such ellipses by $`a_i`$ and their eccentricities by $`e_i`$. Let

$$\mathrm{\Lambda }_i^{}:=\kappa _i^{}\sqrt{a_i},\kappa _i^{}:=\frac{m_i}{\epsilon }\frac{1}{\sqrt{m_0(m_0+m_i)}},$$

($`\kappa _i^{}`$ is a dimensionless constant satisfying $`\frac{\overline{\kappa }}{\sqrt{2}}<\kappa _i^{}<1`$). Since we are interested in small eccentricities, collisions are avoided by requiring that the major semi-axes $`a_i=a_i(\mathrm{\Lambda }^{}):=(\mathrm{\Lambda }_i^{}/\kappa _i^{})^2`$, $`i=1,2`$, are different, and different from zero. We, therefore, fix, once and for all,

$$0<a_{\mathrm{min}}<a_{\mathrm{max}}$$
(105)
and, from now on, we shall consider (attaching the index 1 to the “inner planet”) values of $`\mathrm{\Lambda }^{}`$ in the set

$$:=\{\mathrm{\Lambda }^{}𝐑^2:a_{\mathrm{min}}a_1<a_2a_{\mathrm{max}}\}.$$
(106)
The following classical result follows from the Delaunay-Poincaré theory, see \[BCV\].
Theorem (Delaunay-Poincaré) Fix $`\mathrm{\Lambda }_0^{}`$ . There exists a symplectic set of variables202020With symplectic form $`dI_0d\phi _0+dp_0dq_0`$.

$$(I_0,\phi _0,p_0,q_0)𝐑^2\times 𝐓^2\times 𝐑^2\times 𝐑^2$$

where $`I_0=\mathrm{\Lambda }^{}`$ and $`𝐑^2`$ is a suitable two-dimensional open cube centered at $`\mathrm{\Lambda }_0^{}`$, such that the Hamiltonian of the spatial planetary three-body problem takes the form

$$_0(I_0,\phi _0,p_0,q_0)=h_0(I_0)+f_0(I_0,\phi _0,p_0,q_0),$$
(107)
with

$`h_0:={\displaystyle \frac{1}{2}}{\displaystyle \underset{i=1}{\overset{2}{}}}{\displaystyle \frac{\kappa _i}{I_{0i}^2}},\kappa _i:=\left({\displaystyle \frac{m_i}{\epsilon }}\right)^3{\displaystyle \frac{1}{m_0^2(m_0+m_i)}},\left({\displaystyle \frac{\overline{\kappa }^3}{2}}<\kappa _i<1\right),`$
$`f_0:=\epsilon f_1(I_0,p_0,q_0)+\epsilon f_2(I_0,\phi _0,p_0,q_0),`$
$`f_1:=f_{1,0}(I_0)+{\displaystyle \underset{j=1}{\overset{2}{}}}\overline{\mathrm{\Omega }}_j(I_0)(p_{0j}^2+q_{0j}^2)+\stackrel{~}{f}_1(I_0,p_0,q_0),`$
$`{\displaystyle _{𝐓^2}}f_2𝑑\phi _0=0,\underset{_{\sigma _0}^2}{sup}|\stackrel{~}{f}_1|\mathrm{const}|(p_0,q_0)|^4.`$ (108)
$`f_1`$ and $`f_2`$ are real-analytic and uniformly bounded on212121 $`D_\rho ^d𝐂^d`$ denotes the open complex ball of radius $`\rho `$ centered at the origin.

$$𝒟_0:=_{\sigma _0}^2\times 𝐓_{s_0}^2\times D_{\rho _0}^4𝐂^8,$$
(109)
where $`\sigma _0,s_0,\rho _0`$ are suitable positive numbers. Moreover $`\stackrel{~}{f}_1`$ is even in $`(p_0,q_0)`$ and

$`\underset{I_0}{inf}\overline{\mathrm{\Omega }}_j(I_0)>\underset{I_0_{\sigma _0}^2}{inf}|\overline{\mathrm{\Omega }}_j(I_0)|>\mathrm{const}>0,`$
$`\underset{I_0}{inf}\left(\overline{\mathrm{\Omega }}_2(I_0)\overline{\mathrm{\Omega }}_1(I_0)\right)>\underset{I_0_{\sigma _0}^2}{inf}|\overline{\mathrm{\Omega }}_2(I_0)\overline{\mathrm{\Omega }}_1(I_0)|>\mathrm{const}>0.`$ (110)
We underline that the actions $`I_0`$ are simply $`I_0=\mathrm{\Lambda }^{}`$ and we refer to \[BCV\]-Theorem 1.1 for the complete expressions of the other Delaunay-Poincaré variables $`(\phi _0,p_0,q_0)`$.

We remark that the eccentricities $`e_i`$ are estimated as222222See (1.5),(C.10),(C.15),(C.17) of \[BCV\].

$$c_{}^{}|(p_0,q_0)|e_ic_{}^+|(p_0,q_0)|,i=1,2$$
(111)
for two suitable constants $`0<c_{}^{}<c_{}^+`$ (depending only on $``$).

The Hamiltonian $`_0`$ in (107) describes a nearly-integrable, properly degenerate, system: the integrable Hamiltonian $`h_0`$ depends only on the two action variables $`(I_{01},I_{02})`$. Such degeneracies are a typical feature of problems arising in celestial mechanics and the source of the main difficulties (the application of standard KAM theory for finding maximal tori require the Hamiltonian to be non-degenerate). The frequency vector $`h_0(I_0)`$ is independent of $`\epsilon `$, and then the conjugated angles $`\phi _0`$ may be regarded as “fast angles” and, in “first approximation” the $`_0`$-motions are governed by the averaged Hamiltonian $`h_0+\epsilon f_1`$. By (5), for any fixed $`I_0`$, $`\{\phi _0𝐓^2\}\times \{p_0=q_0=0\}`$ is an elliptic invariant torus for the averaged Hamiltonian $`h_0+\epsilon f_1`$ run by the linear flow $`\phi _0\phi _0+(h_0+\epsilon f_{1,0})(I_0)t`$. These are the quasi-periodic motions that will persist, for $`\epsilon `$ small, and $`I_0`$ in a nearly full (two-dimensional) measure set, as proved in \[BCV\], see also Theorem 5.2.

In the next Proposition, through an appropiate averaging procedure, The Hamiltonian (107) is casted into a suitable normal form.

###### Proposition 5.1

Fix $`N𝐍^+`$. There exists a $`O(\sqrt{\epsilon })`$-close to the identity, real analytic, symplectic change of variables $`(J,\psi ,z,\overline{z})U_{\stackrel{~}{r}}^2\times 𝐓_{\stackrel{~}{s}}^2\times D_{\stackrel{~}{\rho }}^4`$ $`(I_0,\phi _0,p_0,q_0)𝒟_0𝐂^8`$ transforming the Hamiltonian (107) into the real analytic Hamiltonian

$$(J,\psi ,z,\overline{z})=h_\epsilon (J)+\epsilon \stackrel{~}{\mathrm{\Omega }}(J)z\overline{z}+\epsilon g(J,z,\overline{z};\epsilon )+\epsilon ^Nf(J,\psi ,z,\overline{z};\epsilon )$$
(112)
where $`h_\epsilon :=h_0+O(\epsilon )`$,

$$\stackrel{~}{r}=\mathrm{const}\sqrt{\epsilon },\stackrel{~}{s}=\mathrm{const},\stackrel{~}{\rho }=\mathrm{const},$$
(113)
$$U:=\left\{J:|h_0^{}(J)\mathrm{}|\alpha _0,\mathrm{}𝐙^2,0<|\mathrm{}|K\right\},$$
(114)
is a closed set and

$$K:=\frac{6(N1)}{s_0}\mathrm{log}\frac{1}{\epsilon },\alpha _0:=2\underset{_{\sigma _0}}{sup}|h_0^{\prime \prime }|\stackrel{~}{r}K=\mathrm{const}\sqrt{\epsilon }\mathrm{log}\frac{1}{\epsilon },$$
(115)
It results that

$$\mathrm{meas}(U)\mathrm{const}\alpha _0=O\left(\sqrt{\epsilon }\mathrm{log}\frac{1}{\epsilon }\right).$$
(116)
Moreover

$$\underset{JU_{\stackrel{~}{r}}^2}{sup}|g(J,z,\overline{z})|\mathrm{const}\left(|z|+|\overline{z}|\right)^3,$$
(117)
$`\underset{JU}{inf}\stackrel{~}{\mathrm{\Omega }}_j(J)\underset{JU_{\stackrel{~}{r}}^2}{inf}|\stackrel{~}{\mathrm{\Omega }}_j(J)|\chi _0>0,`$
$`\underset{JU}{inf}\left(\stackrel{~}{\mathrm{\Omega }}_2(J)\stackrel{~}{\mathrm{\Omega }}_1(J)\right)\underset{JU_{\stackrel{~}{r}}^2}{inf}|\stackrel{~}{\mathrm{\Omega }}_2(J)\stackrel{~}{\mathrm{\Omega }}_1(J)|\chi _0>0,`$ (118)
for some positive constant $`\chi _0`$.

Proof: The Hamiltonian (112) has been deduced in \[BCV\] in the case $`N=3`$ and on the smaller domain $`U^{}:=\{J||h_0^{}(J)\mathrm{}|\mathrm{const}(\sqrt{\epsilon }\mathrm{log}^{\tau +1}(1/\epsilon ))/(1+|l|^\tau )`$, $`\mathrm{}𝐙^2\{0\}\}U`$, see formula (2.22) of \[BCV\] and introduce the complex coordinates (182). Note also that the analyticity constant $`\stackrel{~}{\rho }=\mathrm{const}`$ is bigger than $`\stackrel{~}{\rho }=\mathrm{log}^1(1/\epsilon )`$ given in \[BCV\] . For the proof of the Proposition see the Appendix. $`\mathrm{}`$

The manifold $`\{z=0\}`$ is invariant under the Hamiltonian system generated by the integrable Hamiltonian $`h_\epsilon (J)+\epsilon \stackrel{~}{\mathrm{\Omega }}(J)z\overline{z}`$,

$$\dot{J}=0,\dot{\psi }=_Jh_\epsilon (J)+\epsilon _J\stackrel{~}{\mathrm{\Omega }}(J)z\overline{z},\dot{z}=\mathrm{i}\epsilon \stackrel{~}{\mathrm{\Omega }}(J)z$$
(119)
and it is completely filled up by the invariant elliptic tori $`𝒯(J_0):=`$ $`\{J=J_0,`$ $`\psi 𝐓^2,`$ $`z=0\}`$, supporting the linear flow $`t\{J_0,\psi _0+\omega _\epsilon (J_0)t,0\}`$ with torus frequency $`\omega _\epsilon (J_0):=`$ $`_Jh_\epsilon (J_0)`$. This family of $`2`$-dimensional tori will not persist in its entirety for the complete Hamiltonian system generated by $``$

$$\dot{J}=_\psi ,\dot{\psi }=_J,\dot{z}=\mathrm{i}_{\overline{z}},\dot{\overline{z}}=\mathrm{i}_z,$$
(120)
due to resonances among the oscillations. However, the persistence of a set of positive ($`2`$-dimensional) measure of perturbed elliptic invariant tori -those with diophantine frequency $`\omega _\epsilon (J_0)`$ \- has been proved in \[BCV\], using the KAM Theorem of \[Pö2\].

In Theorem 0.2 we will prove the existence of an abundance of periodic solutions with larger and larger period accumulating on each perturbed elliptic torus, applying Theorem 1.1. For this aim, we will first reprove (Theorem 5.2) the existence of the \[BCV\]-elliptic tori, using the KAM Theorem of \[Pö1\] and furnishing also the KAM-normal form describing the dynamics in its neighborhood (it will be of the form considered in (1)). Moreover, for proving that the hypothesys of Theorem 1.1 are satisfied, we also need precise informations on the form of the KAM-transformation bringing into the KAM normal form, see Theorem 5.1-$`(ii)`$.

For the existence result of the elliptic invariant tori (Theorem 5.2) and their surrounding periodic orbits (Theorem 0.2) it is sufficient, and we will assume, $`N=3`$.

First of all we rewrite the Hamiltonian $``$ in (112) in a form suitable to apply the KAM Theorem of \[Pö1\]. Introducing the coordinate $`y𝐑^n`$ around each torus $`𝒯(J_0)`$ in the usual way $`J=J_0+y`$, the Hamiltonian $``$ can be developed as

$$H(y,\psi ,z,\overline{z};\omega ):=(J_0+y,\psi ,z,\overline{z})=𝒩+P$$
(121)
where $`𝒩:=`$ $`h_\epsilon (J_0)+`$ $`h_\epsilon ^{}(J_0)y+`$ $`\epsilon \stackrel{~}{\mathrm{\Omega }}(J_0)z\overline{z}`$ and $`P=P(y,\psi ,z,\overline{z};J_0)=P_1+P_2+P_3+P_4`$ with

$`P_1`$ $`:=`$ $`h_\epsilon (J_0+y)h_\epsilon (J_0)h_\epsilon ^{}(J_0)y=O(|y|^2),`$
$`P_2`$ $`:=`$ $`\epsilon \left(\stackrel{~}{\mathrm{\Omega }}(J_0+y)\stackrel{~}{\mathrm{\Omega }}(J_0)\right)z\overline{z}=O\left(\epsilon |y||z||\overline{z}|\right),`$
$`P_3`$ $`:=`$ $`\epsilon g(J_0+y,z,\overline{z})=O\left(\epsilon \left(|z|+|\overline{z}|\right)^3\right),`$
$`P_4`$ $`:=`$ $`\epsilon ^3f(J_0+y,x,z,\overline{z})=O(\epsilon ^3).`$ (122)
By the non-isocronicity property det $`h_\epsilon ^{\prime \prime }(J_0)0`$ there is a one-to-one correspondence between the actions $`J_0U𝐑^2`$ and the torus frequency $`\omega :=\omega (J_0)=h_\epsilon ^{}(J_0)𝒪𝐑^2`$ where

$$𝒪:=\{\omega =h_\epsilon ^{}(J_0):J_0U\}.$$
(123)
By (116) we have

$$\mathrm{meas}\left(h_\epsilon ^{}()𝒪\right)\mathrm{const}\alpha _0=O\left(\sqrt{\epsilon }\mathrm{log}\left(\frac{1}{\epsilon }\right)\right).$$
(124)
The frequencies $`\omega :=\omega (J_0)`$ may be introduced as parameters: denoting $`J_0=J_0(\omega ):=(h_\epsilon ^{})^1(\omega )`$ its inverse function, the Hamiltonian (121) can be finally written in the form

$$H(y,\psi ,z,\overline{z};\omega ):=𝒩(y,z,\overline{z};\omega )+P(y,\psi ,z,\overline{z};\omega )$$
(125)
where $`𝒩(y,z,\overline{z};\omega ):=`$ $`e(\omega )+\omega y+\mathrm{\Omega }(\omega )z\overline{z}`$, $`e(\omega ):=h_\epsilon (J_0(\omega ))`$, $`\mathrm{\Omega }(\omega ):=\epsilon \stackrel{~}{\mathrm{\Omega }}(J_0(\omega ))`$ and the perturbation $`P(y,\psi ,z,\overline{z};\omega )`$ is obtained by the one in (121) just replacing $`J_0`$ with $`J_0(\omega ):=(h_\epsilon ^{})^1(\omega )`$. Recalling (113) the Hamiltonian $`H`$ in (125) is real analytic in

$$(y,\psi ,z,\overline{z};\omega )U_{\stackrel{~}{r}/2}^2\times 𝐓_{\stackrel{~}{s}}^2\times D_{\stackrel{~}{\rho }}^4\times 𝒪_{\stackrel{~}{\delta }}^2,\mathrm{with}\stackrel{~}{\delta }:=\mathrm{const}\sqrt{\epsilon }$$
(126)
(since $`\omega J_0(\omega ):=(h_\epsilon ^{})^1`$ is analytic).

$`H`$ is in a suitable form to apply the KAM Theorem of \[Pö1\] that we rewrite in the next subsection.

### 5.1 A KAM Theorem for elliptic tori

The KAM Theorem of \[Pö1\] applies to Hamiltonians like

$$H:=H(y,\psi ,z,\overline{z};\omega ):=𝒩+P=e(\omega )+\omega y+\mathrm{\Omega }(\omega )z\overline{z}+P(y,\psi ,z,\overline{z};\omega )$$

where $`(y,\psi ,z,\overline{z})𝐑^n\times `$ $`𝐓^n\times `$ $`𝐂^m\times `$ $`𝐂^m`$ and $`\omega 𝐑^n`$ is regarded as a parameter varying over a compact subset $`𝒪𝐑^n`$.

The functions $`P=P(y,\psi ,z,\overline{z};\omega )`$ and $`\mathrm{\Omega }(\omega )`$ are real analytic on the complex domain $`𝒟_{\overline{r},\overline{s}}`$ $`\times 𝒪_\delta `$ where $`𝒟_{\overline{r},\overline{s}}:=D_{\overline{r}^2}^n\times 𝐓_{\overline{s}}^n\times D_{\overline{r}}^{2m}`$ and $`\overline{r},\overline{s},\delta `$ are suitable positive constants.

The size of the perturbation $`P`$ is measured by the following norm. Taking the Fourier-Taylor expansions

$$P(y,\psi ,z,\overline{z};\omega )=\underset{\genfrac{}{}{0pt}{}{\mathrm{}𝐙^n}{a,\overline{a}𝐍^m}}{}P_{a,\overline{a},\mathrm{}}(y;\omega )z^a\overline{z}^{\overline{a}}e^{\mathrm{i}\mathrm{}\psi }=\underset{\mathrm{}𝐙^n}{}P_{\mathrm{}}(y,z,\overline{z};\omega )e^{\mathrm{i}\mathrm{}\psi },$$

let define232323 The relation with the usual Fourier norm (used in the Appendix) $`P_{\overline{r},\overline{s},\delta }:=`$ $`_{\mathrm{}𝐙^n}|P_{\mathrm{}}|_{\overline{r},\delta }e^{|\mathrm{}|\overline{s}}`$ is $`|P|_{\overline{r}/2,\overline{s},\delta }`$ $`2^{2m}P_{\overline{r},\overline{s},\delta }`$ and $`|P|_{\overline{r},\overline{s},\delta }`$ $`2^{2m}P_{\overline{r},\overline{s},\delta }.`$

$$|P|_{\overline{r},\overline{s},\delta }:=\underset{\mathrm{}𝐙^n}{}|𝐌P_{\mathrm{}}|_{\overline{r},\delta }e^{|\mathrm{}|\overline{s}}$$

where $`𝐌P_{\mathrm{}}:=`$ $`_{a,\overline{a}0}|P_{a,\overline{a},\mathrm{}}(y)|z^a\overline{z}^{\overline{a}}`$ and $`||_{\overline{r},\delta }`$ denotes the sup-norm over the $`(y,z,\overline{z})`$ $`D_{\overline{r}^2}^n\times D_{\overline{r}}^{2m}`$ and $`\omega `$ $`𝒪_\delta `$. The following Theorem follows from \[Pö1\].

###### Theorem 5.1

(Pöschel \[Pö1\]) Fix $`\tau >n1`$. Suppose

$$\underset{\omega 𝒪_\delta }{sup}|_\omega \mathrm{\Omega }(\omega )|M$$
(127)
for some $`0<M<+\mathrm{}`$, and that the non-resonance condition

$$|\mathrm{\Omega }(\omega )h|\alpha ,1|h|2,h𝐙^n,\omega 𝒪,$$
(128)
is satisfied for some $`\alpha >0`$. Then, there exists a positive constant $`\kappa :=\kappa (\overline{s})`$ such that, if $`P`$ is sufficiently small,

$$𝒫:=|P|_{\overline{r},\overline{s},\delta }\frac{\kappa }{M+1}\alpha \overline{r}^2\frac{\delta \overline{r}^2}{16},$$
(129)
then:

* there exist a normal form $`𝒩_{}:=e_{}+\omega y_{}+\mathrm{\Omega }_{}(\omega )z_{}\overline{z}_{}`$, a Cantor set $`𝒪(\alpha )𝒪`$ on which

$$|\omega \mathrm{}+\mathrm{\Omega }_{}(\omega )h|\frac{\alpha }{2(1+|\mathrm{}|^\tau )},\mathrm{}𝐙^n,|h|2,|\mathrm{}|+|h|0,\omega 𝒪(\alpha ),$$
(130)
and a transformation $`:𝒟_{\overline{r}/2,\overline{s}/2}\times 𝒪(\alpha )𝒟_{\overline{r},\overline{s}}\times 𝒪_\delta `$ real analytic and symplectic for each $`\omega `$ and Whitney smooth in $`\omega `$, such that

$$H_{}:=H=𝒩_{}+R_{}withR_{}:=\underset{2|k|+|a+\overline{a}|3}{}R_{ka\overline{a}}^{}(\psi _{})y_{}^kz_{}^a\overline{z}_{}^{\overline{a}};$$
(131)
* $``$ has the following form (omitting the dependence on $`\omega `$)

$`y`$ $`=`$ $`y_{}+Y(y_{},\psi _{},z_{},\overline{z}_{})`$
$`\psi `$ $`=`$ $`\psi _{}+X(\psi _{})`$
$`z`$ $`=`$ $`z_{}+Z(\psi _{},z_{},\overline{z}_{})`$
$`\overline{z}`$ $`=`$ $`\overline{z}_{}+\overline{Z}(\psi _{},z_{},\overline{z}_{})`$ (132)
where

$$Y:=\underset{2|k|+|a+\overline{a}|2}{}Y_{ka\overline{a}}(\psi _{})y_{}^kz_{}^a\overline{z}_{}^{\overline{a}},Z:=\underset{|a+\overline{a}|1}{}Z_{a\overline{a}}(\psi _{})z_{}^a\overline{z}_{}^{\overline{a}},$$
(133)
and, denoting by $`_{}:=sup_{𝒟_{\overline{r}/2,\overline{s}/2}}||`$,

$$Y_{},\frac{\overline{r}^2}{\overline{s}}X_{},\overline{r}Z_{},\overline{r}\overline{Z}_{}\mathrm{const}\frac{𝒫}{\alpha };$$
(134)
* if $`M`$ is sufficiently small, i.e., if

$$M<1/4,$$
(135)
then

$$\mathrm{meas}\left(𝒪𝒪(\alpha )\right)=O(\alpha d^{n1})$$
(136)
where $`d`$ is the exterior diameter of $`𝒪`$.

By Theorem 5.1 the Hamiltonian system generated by $`H`$ possesses a family of $`n`$-dimensional elliptic invariant tori $`𝒯:=`$ $`\{(y,\psi ,z)=`$ $`(Y(0,\psi _{},0,0),\psi _{},z(\psi _{},0,0))\}`$ traveled with frequencies $`\omega `$, for each frequency vector in the Cantor set $`𝒪_\alpha `$. The dynamics near each torus $`𝒯`$ is described by the normal form (131), which in turn coincide with (1).

Let us make some comments on Theorem 5.1. Point $`(i)`$ is Theorem A of \[Pö1\] (we have fixed the constant $`\rho `$ in the statement of Theorem A as $`\rho :=\overline{s}/4`$).

Concerning point $`(ii)`$, formula ((ii)) follows from Section 4 of \[Pö1\] (see, in particular, page 574 of \[Pö1\]). Formula (134) follows from Section 7 of \[Pö1\] (see in particular the last estimate on page 592).

Point $`(iii)`$ follows from Theorem B of \[Pö1\]. Indeed, from (127), (128) and (135) $`𝒪`$ is essentially non-resonant according to the definition at page 565 of \[Pö1\]. For finite dimensional systems this reduces to verify only that $`𝒪`$ is non-resonant (see again page 565 of \[Pö1\]), namely

$$\underset{\omega 𝒪}{\mathrm{min}}|\mathrm{}\omega +\mathrm{\Omega }(\omega )h|\alpha $$
(137)
for all $`0<|h|2`$ and $`\mathrm{}𝒦_h,`$ the closed convex hull of the gradient set $`𝒢_h:=\{_\omega (\mathrm{\Omega }(\omega )h):\omega 𝒪\}.`$ Since, by (127) and $`|h|2`$, 242424$`B_R^n𝐑^n`$ is the closed ball of radius $`R`$ and center $`0`$ using the $`||_2`$ norm. $`𝒦_hB_{2M}^n,`$ taking $`M<1/4`$ as in (135), the unique integer vector $`l𝒦_h`$ is $`l=0`$. Hence condition (137) must be verified for $`\mathrm{}=0`$ only, and this is condition (128).

### 5.2 Abundance of periodic solutions in the three-body problem

In this section we prove the existence of periodic orbits accumulating on elliptic $`2`$-dimensional tori of the three body-problem.

First of all we show that the KAM-Theorem 5.1 applies to the Hamiltonian $`H`$ in (125) reproving the existence of elliptic invariant tori in the spatial planetary three body problem as in \[BCV\]. We assume the frequency parameter $`\omega 𝐑^2`$ to vary over the compact subset $`𝒪`$.

By (126) and (113), the Hamiltonian $`H`$ in (125) is real analytic on $`𝒟_{\overline{r},\overline{s}}\times 𝒪_\delta :=D_{\overline{r}^2}^2\times 𝐓_{\overline{s}}^2\times D_{\overline{r}}^4\times 𝒪_\delta `$ for

$$\overline{r}:=\sqrt{c_0\epsilon },\overline{s}:=\mathrm{const},\delta :=\mathrm{const}\sqrt{\epsilon },$$
(138)
where $`c_0`$ is a small constant which will be determined later on (we restrict the domain of $`H`$ w.r.t. to the larger one defined in (126) because with the choice (138) the smallness KAM condition (129) is satisfied, see (143), (144)).

Applying the KAM-Theorem 5.1, we get

###### Theorem 5.2

Fix $`\tau >n1.`$ For $`c_0`$ and $`\epsilon `$ small enough, there exists a Cantor set $`𝒪(\epsilon )𝒪h_\epsilon ^{}()`$, with

$$\mathrm{meas}\left(h_\epsilon ^{}()𝒪(\epsilon )\right)\mathrm{const}\sqrt{\epsilon }\mathrm{log}\frac{1}{\epsilon },$$
(139)
such that, for any $`\omega =\omega (J_0)𝒪(\epsilon ),`$ there exists a symplectic trasformation

$$\mathrm{\Phi }:𝒟_{\overline{r}/2,\overline{s}/2}𝒟_{\overline{r},\overline{s}},$$

of the form ((ii)), transforming the three-body Hamiltonian $`H`$ in (125) into the normal form $`H_{}:=H\mathrm{\Phi }`$ as in (131). Moreover

$$|\omega \mathrm{}+\mathrm{\Omega }_{}(\omega )h|\frac{\mathrm{const}\epsilon }{1+|\mathrm{}|^\tau },\mathrm{}𝐙^n,|h|2,|\mathrm{}|+|h|0,\omega 𝒪(\epsilon ).$$
(140)
In particular, the three-body problem Hamiltonian $`H`$ possesses a family of $`2`$-dimensional elliptic invariant tori traveled with frequencies $`\omega `$.

Proof: Recalling that $`\mathrm{\Omega }(\omega ):=\epsilon \stackrel{~}{\mathrm{\Omega }}(J_0(\omega ))`$, it is easy to see that $`sup_{\omega 𝒪_\delta }|_\omega \mathrm{\Omega }(\omega )|\epsilon C_0:=M`$ for some positive constant $`C_0`$ and condition (127) holds true. Moreover, for $`0<\epsilon <1/(4C_0)`$, $`M<1/4`$ and also condition (135) is satisfied.

We claim that condition (128) holds, with

$$\alpha :=\chi _0\epsilon ,$$
(141)
namely,

$$|\mathrm{\Omega }(\omega )h|\alpha :=\chi _0\epsilon ,1|h|2,h𝐙^2,\omega 𝒪.$$
(142)
Indeed $`\omega 𝒪`$, $`\mathrm{\Omega }(\omega )=\epsilon \stackrel{~}{\mathrm{\Omega }}(J_0)`$ for some $`J_0U`$. Moreover, by (5.1), it is easy to see that $`|\stackrel{~}{\mathrm{\Omega }}(J_0)h|\chi _0`$, $`1|h|2`$, $`h𝐙^2`$, $`J_0U`$ and the claim follows.

It remains to check the smallness condition (129), i.e. $`𝒫\epsilon \overline{r}^2`$, since $`\kappa =O(1)`$ and $`\alpha :=\chi _0\epsilon `$. Note that, from (5) and (138),

$$𝒫\mathrm{const}(\overline{r}^4+\epsilon \overline{r}^4+\epsilon \overline{r}^3+\epsilon ^3)\mathrm{const}(\overline{r}^4+\epsilon ^3).$$
(143)
Hence, by (143), in order to check condition (129), it is sufficient that

$$\overline{r}^4+\epsilon ^3\mathrm{const}\epsilon \overline{r}^2.$$
(144)
Since $`\overline{r}:=\sqrt{c_0\epsilon }`$, (144) holds true for $`c_0`$ and $`\epsilon `$ small enough. By Theorem 5.1 the result follows.

From (136), since $`d=O(1)`$ and $`\alpha =O(\epsilon )`$, meas $`(𝒪𝒪(\epsilon ))=`$ $`O(\epsilon )`$. Moreover, since by (124), meas $`(h_\epsilon ^{}()𝒪)=`$ $`O(\sqrt{\epsilon }\mathrm{log}(1/\epsilon ))`$, the measure estimate (139) follows. $`\mathrm{}`$

For proving that each elliptic invariant torus found in Theorem 5.2 lies in the closure of periodic orbits of the three body problem, we will apply Theorem 1.1 to the normal form Hamiltonian $`H_{}:=H\mathrm{\Phi }`$ given in (131) (which has the form (1)) corresponding to the three body problem.

The crucial hypothesys to verify in Theorem 1.1 is the non-degeneracy of the twist matrix $``$ defined in (7). We have to evaluate, for $`1i,i^{}n=2`$ and $`1jm=2`$

$`R_{e_i+e_i^{},0,0}^{}(\psi _{})`$ $`=`$ $`{\displaystyle \frac{1}{1+\delta _{i,i^{}}}}{\displaystyle \frac{^2H_{}}{y_iy_i^{}}}(0,\psi _{},0,0),`$
$`R_{e_i,e_j,0}^{}(\psi _{})`$ $`=`$ $`{\displaystyle \frac{^2H_{}}{y_iz_j}}(0,\psi _{},0,0).`$ (145)
$`R_{e_i,0,e_j}^{}(\psi _{})`$ can be computed as the $`R_{e_i,e_j,0}^{}(\psi _{})`$ and their calculation is omitted. Due to the special form ((ii))-(133) of the canonical transformation $`\mathrm{\Phi }`$, we have

$$_{y_i}\left(H\mathrm{\Phi }\right)=\left[\left(_yH\right)\mathrm{\Phi }\right]_{y_i}y\mathrm{with}_{y_i}y=e_i+Y_{e_i,0,0}(\psi _{}),$$
(146)
from which

$`_{y_i^{}y_i}^2\left(H\mathrm{\Phi }\right)`$ $`=`$ $`\left[\left(_{yy}^2H\right)\mathrm{\Phi }_{y_i^{}}y\right]_{y_i}y`$ (147)
$`_{z_jy_i}^2\left(H\mathrm{\Phi }\right)`$ $`=`$ $`[\left(_{yy}^2H\right)\mathrm{\Phi }_{z_j}Y+\left(_{zy}^2H\right)\mathrm{\Phi }(e_j+_{z_j}Z)+`$ (148)
$`+`$ $`\left(_{\overline{z}y}^2H\right)\mathrm{\Phi }_{z_j}\overline{Z}]_{y_i}y.`$
We are now able to prove that

###### Lemma 5.1

For $`c_0`$ and $`\epsilon `$ small enough, the twist matrix $``$ of the planetary three body problem is invertible and $`|^1|=O(1)`$.

Proof: We need to evaluate (147)-(148) for $`(y_{},\psi _{},z_{},\overline{z}_{})=`$ $`(0,\psi _{},0,0)=:`$. By ((ii)), (134), (143) and since $`r_0:=\sqrt{c_0\epsilon }`$ and $`\alpha :=\chi _0\epsilon `$, it results

$$|y_i()|=|Y_i()|\mathrm{const}\frac{𝒫}{\alpha }\mathrm{const}\frac{\overline{r}^4+\epsilon ^3}{\epsilon }=\mathrm{const}\frac{c_0^2\epsilon ^2+\epsilon ^3}{\epsilon }\mathrm{const}\epsilon .$$
(149)
Moreover, by (134) and standard “Cauchy estimates”252525Cauchy estimates allow to bound $`n`$-derivatives of analytic functions on a set $`A`$ in terms of their sup-norm on larger domains $`AA^{}`$ divided by $`\mathrm{dist}(A,A^{})^n`$., we have

$$|_y_{}Y()|,\frac{1}{\overline{r}}|_z_{}Y()|,|_z_{}Z()|,|_z_{}\overline{Z}()|\mathrm{const}\frac{𝒫}{\alpha \overline{r}^2}=O(c_0),$$
(150)
(for the second estimate note that $`_z_{}Y`$ is independent of $`y_{}`$ due to (133)).

From (147)-(148) we deduce, using (149), (150) and since $`H=h_0(J_0+y)+O(\epsilon )`$, with $`h_0`$ defined in (5),

$`_{y_iy_i}^2H_{}()`$ $`=`$ $`{\displaystyle \frac{3\kappa _i}{((J_0)_i+y_i())^4}}+O_{\mathrm{}}\left({\displaystyle \frac{𝒫}{\alpha \overline{r}^2}}\right)+O_{\mathrm{}}(\epsilon )={\displaystyle \frac{3\kappa _i}{(J_0)_i^4}}+O_{\mathrm{}}(c_0),`$
$`_{y_i^{}y_i}^2H_{}()`$ $`=`$ $`O_{\mathrm{}}(c_0)+O_{\mathrm{}}(\epsilon )=O_{\mathrm{}}(c_0)\mathrm{if}ii^{},`$
$`_{z_jy_i}^2H_{}(),`$ $`=`$ $`O_{\mathrm{}}\left({\displaystyle \frac{𝒫}{\alpha \overline{r}}}\right)+O_{\mathrm{}}(\epsilon )=O_{\mathrm{}}(c_0^{3/2}\sqrt{\epsilon }),`$
where $`O_{\mathrm{}}(c)`$ denotes a function of $`\psi _{}`$ with sup-norm for $`\psi _{}𝐓_{\overline{s}/2}`$ smaller than a constant multiplied by $`c.`$ It follows

$$R_{2e_i,0,0}^{}(\psi _{})=\frac{3\kappa _i}{2(J_0)_i^4}+O_{\mathrm{}}(c_0),R_{e_i+e_i^{},0,0}^{}(\psi _{})=O_{\mathrm{}}(c_0)\mathrm{if}i^{}i,R_{e_i,e_j,0}^{}(\psi _{})=O_{\mathrm{}}(c_0^{3/2}\sqrt{\epsilon }).$$

Evaluating the Fourier coefficients of the above function we obtain

$`R_{2e_i,0,0,0}^{}={\displaystyle \frac{3\kappa _i}{2(J_0)_i^4}}+O(c_0),R_{e_i+e_i^{},0,0,0}^{}=O(c_0),\mathrm{for}i^{}i`$ (151)
$`|R_{e_i,e_j,0,\mathrm{}}^{}|,|R_{e_i,0,e_j,\mathrm{}}^{}|\mathrm{const}c_0^{3/2}\sqrt{\epsilon }e^{|\mathrm{}|\overline{s}/4}.`$ (152)
From (140), $`|\omega \mathrm{}+\mathrm{\Omega }_j(\omega )|`$ $``$ const $`\epsilon /(1+|\mathrm{}|^\tau )`$, $`\mathrm{}𝐙^n`$ and then, from (152) the second addendum in definition of the twist matrix $``$ introduced in (7) is

$`{\displaystyle \underset{\genfrac{}{}{0pt}{}{1jm}{\mathrm{}𝐙^n}}{}}{\displaystyle \frac{1}{\omega \mathrm{}+\mathrm{\Omega }_j(\omega )}}\left(R_{e_i,e_j,0,\mathrm{}}^{}R_{e_i^{},0,e_j,\mathrm{}}^{}+R_{e_i,0,e_j,\mathrm{}}^{}R_{e_i^{},e_j,0,\mathrm{}}^{}\right)`$ $`=`$
$`O\left({\displaystyle \underset{\mathrm{}𝐙^n}{}}{\displaystyle \frac{1+|\mathrm{}|^\tau }{\epsilon }}c_0^3\epsilon e^{\frac{|\mathrm{}|\overline{s}}{2}}\right)`$ $`=`$ $`O(c_0^3).`$ (153)
Finally (151) and (5.2) imply that the entries of the twist matrix $``$ corresponding to the spatial three body-problem are

$$_{i,i}=\frac{3\kappa _i}{2(J_0)_i^4}+O(c_0)+O(c_0^3),_{i,i^{}}=O(c_0)+O(c_0^3)\mathrm{for}i^{}i.$$
(154)
By (154), for $`c_0`$ small enough, the matrix $``$ is invertible and $`|^1|=O(1)`$. $`\mathrm{}`$

We can finally prove the abundance of periodic solutions in the spatial planetary three body problem.

Proof of Theorem 0.2: Since the number of elliptic variables $`z`$ is $`m=2`$ condition ($`a`$)-($`i`$) of Theorem 1.1 holds. Moreover, by Lemma 5.1, the twist matrix $``$ is invertible with $`|^1|=O(1)`$, and then we can apply Theorem 1.1, proving the existence of an abundance of periodic solutions of the three body problem. Theorem 0.2 is finally proved. $`\mathrm{}`$

## 6 Periodic orbits near resonant elliptic tori

In this section we study the persistence, for $`\epsilon >0`$, of the circular decoupled periodic motions of the planets around the star, once suitable conditions on the period and the masses of the bodies are satisfied.

Let consider $`J_0`$, $`T>0`$ and $`k=(k_1,k_2)𝐙^2`$ with gcd$`(k_1,k_2)=1`$, such that

$$\omega :=h_0^{}(J_0)=\frac{2\pi k}{T},$$
(155)
where $`h_0`$ is the integrable Hamiltonian defined in (5). The decoupled three-body problem possesses the family of (circular) periodic solutions

$$\stackrel{ˇ}{\zeta }_{\psi _0}(t):=(J_0,\psi _0+\omega t,\mathrm{\hspace{0.17em}0},\mathrm{\hspace{0.17em}0}),$$

with minimal period $`T`$ and parametrized by $`\psi _0𝐓^2`$.

Since $`h_0`$ is properly degenerate the persistence of these motions for $`\epsilon >0`$ can not be established without further informations on the perturbation $`f_0`$. For continuing some of these solutions we will exploit the normal form $``$ defined in (112) (with $`N=4`$).

First of all, through a Lyapunov-Schmidt reduction similar to the one of Lemma 4.3, we obtain the existence of suitable pseudo-$`T`$-periodic solutions.

###### Lemma 6.1

There exists $`c_1,\epsilon _1>0`$, such that, for all $`T>0`$, $`k𝐙^2`$ with gcd$`(k_1,k_2)=1`$, $`0<\epsilon \mathrm{min}\{\epsilon _1,\frac{1}{c_1T}\}`$, $`J_0U`$ satisfying $`\omega :=h_0^{}(J_0)=2\pi k/T`$, and $`\psi _0𝐓^2`$, there exists a unique function

$$\zeta _{\psi _0}=(J_{\psi _0},\psi _{\psi _0},z_{\psi _0})C^0([0,T],𝐑^2\times 𝐓^2\times 𝐂^2)C^1((0,T),𝐑^2\times 𝐓^2\times 𝐂^2),$$

smooth in $`\psi _0`$, so that, $`t(0,T)`$, $`\zeta _{\psi _0}(t)`$ is a solution of the Hamiltonian system (120)262626For the Hamiltonian $``$ defined in (112) with $`N=4`$. with $`\psi _{\psi _0}(0)=\psi _{\psi _0}(T)=\psi _0`$, $`z_{\psi _0}(0)=z_{\psi _0}(T)`$ and

$$\underset{t[0,T]}{sup}|\zeta _{\psi _0}(t)\widehat{\zeta }_{\psi _0}(t)|c_1\epsilon ^2,$$

where $`\widehat{\zeta }_{\psi _0}(t):=`$ $`(J_\epsilon ,\psi _0+\omega t,\mathrm{\hspace{0.17em}0},\mathrm{\hspace{0.17em}0})`$ and $`J_\epsilon =J_0+O(\epsilon )`$ is the unique solution of $`h_\epsilon ^{}(J_\epsilon )=\omega `$.

Proof: We first note that, since det $`h_0^{\prime \prime }(J)0`$ (see (107)–(5)), by the Implicit Function Theorem, $`J_\epsilon `$ exists, is unique and is $`\epsilon `$-close to $`J_0U`$. Moreover, for $`\epsilon _1`$ small enough, $`J_\epsilon 𝐑^2U_{\mathrm{const}\epsilon }`$ $`U_{\stackrel{~}{r}/4}`$ (since $`\stackrel{~}{r}=O(\sqrt{\epsilon })`$).

Define $`X`$ and $`Y`$ as in Lemma 2.5, with $`n=m=2`$. Let also $`\mathrm{\Omega }:=\epsilon \stackrel{~}{\mathrm{\Omega }}(J_\epsilon )`$, $`M:=_J^2h_\epsilon (J_\epsilon )`$ and $`:=\mathrm{𝟏}_2e^{\mathrm{i}\epsilon \stackrel{~}{\mathrm{\Omega }}(J_\epsilon )T}`$. Notice that, if $`0<\epsilon T1/c_1`$ is small enough (namely $`c_1`$ is large enough), then $`|^1|`$ is bounded by a constant (independent on $`\epsilon `$).

We look for $`T`$-periodic solutions of the Hamiltonian system (120) of the form $`\zeta =`$ $`\widehat{\zeta }_{\psi _0}+`$ $`(\stackrel{~}{J},\stackrel{~}{\psi },\stackrel{~}{z},\stackrel{~}{\overline{z}}).`$ Set

$$P\left(\begin{array}{c}\stackrel{~}{J}\\ \stackrel{~}{\psi }\\ \stackrel{~}{z}\end{array}\right)=\left(\begin{array}{c}\epsilon ^4_\psi f()\\ \\ _J^2h_\epsilon (J_\epsilon )\stackrel{~}{J}+_Jh_\epsilon (J_\epsilon +\stackrel{~}{J})_Jh_\epsilon (J_\epsilon )+\epsilon _J\stackrel{~}{\mathrm{\Omega }}(J_\epsilon +\stackrel{~}{J})\stackrel{~}{z}\overline{\stackrel{~}{z}}+\\ +\left(\epsilon _Jg+\epsilon ^4_Jf\right)()\\ \\ \mathrm{i}\left[\epsilon \left(\stackrel{~}{\mathrm{\Omega }}(J_\epsilon +\stackrel{~}{J})\stackrel{~}{\mathrm{\Omega }}(J_\epsilon )\right)\stackrel{~}{z}+\left(\epsilon _{\overline{z}}g+\epsilon ^4_{\overline{z}}f\right)()\right]\end{array}\right),$$

where the star above denotes, for short, $`:=(J_\epsilon +\stackrel{~}{J},\psi _0+\omega t+\stackrel{~}{\psi },\stackrel{~}{z},\stackrel{~}{\overline{z}})`$. We note that $`P(0)=O(\epsilon ^4)`$ by (117). We want to apply Lemma 2.4. From (25) of Lemma 2.5 we find $`|L|=O(1/(c_1^2\epsilon ^2))`$, hence $`\delta _0:=2|L(P(0))|=O(\epsilon ^2/c_1^2)`$ and $`sup_{xB_{\delta _0}}|DP(x)|\mathrm{const}(\delta _0+\epsilon ^4)`$. Then, taking $`c_1`$ big enough, we can apply Lemma 2.4 proving the existence and uniqueness of a $`\zeta _{\psi _0}^{}B_{\rho _0}`$ so that

$$\zeta _{\psi _0}^{}=L(P(\zeta _{\psi _0}^{})).$$
(156)
Let $`\zeta _{\psi _0}(t):=\widehat{\zeta }_{\psi _0}+\zeta _{\psi _0}^{}`$. By means of (156) and (2.5), it follows that $`\zeta _{\psi _0}`$ satisfies the Hamilton equations (120) in $`(0,T)`$ and the boundary conditions $`\psi _{\psi _0}(0)=\psi _{\psi _0}(T)=\psi _0`$, $`z_{\psi _0}(0)=z_{\psi _0}(T)`$. As usual, by the Implicit Function Theorem, $`\psi _0\zeta _{\psi _0}`$ is smooth. $`\mathrm{}`$

Finally, critical points of the “reduced action functional” $`:𝐓^2𝐑`$ defined by

$$(\psi _0):=_0^TJ_{\psi _0}\dot{\psi }_{\psi _0}+\mathrm{i}z_{\psi _0}\dot{\overline{z}}_{\psi _0}(\zeta _{\psi _0})dt$$

give rise, arguing as in Lemma 4.4, to periodic solutions of (120). As in the proof of Theorem 1.1 (see page 4.5) we deduce the existence of at least two geometrically distinct periodic solutions of (120) (corresponding to the points of maximum $`\psi _0^+`$ and minimum $`\psi _0^{}`$ of $``$).

We can finally state the following result which, in particular, will imply Theorems 0.3 and 0.4 :

###### Theorem 6.1

There exists $`c_1,\epsilon _1>0`$, such that, for all $`T>0`$, $`k𝐙^2`$ with gcd$`(k_1,k_2)=1`$, $`0<\epsilon \mathrm{min}\{\epsilon _1,\frac{1}{c_1T}\}`$, $`J_0U`$ satisfying $`\omega :=h_0^{}(J_0)=2\pi k/T`$, there exist at least two geometrically distinct $`T`$-periodic solutions $`\zeta _{\psi _0^\pm }=(J_{\psi _0^\pm },\psi _{\psi _0^\pm },z_{\psi _0^\pm })`$ of the Hamiltonian system (120)272727For the Hamiltonian $``$ defined in (112) with $`N=4`$. with

$$\underset{t𝐑}{sup}|\zeta _{\psi _0^\pm }(t)\widehat{\zeta }_{\psi _0^\pm }(t)|c_1\epsilon ^2,$$

where $`\widehat{\zeta }_{\psi _0^\pm }(t):=(J_\epsilon ,\psi _0^\pm +\omega t,\mathrm{\hspace{0.17em}0},\mathrm{\hspace{0.17em}0})`$ and $`J_\epsilon =J_0+O(\epsilon )`$ is the unique solution of $`h_\epsilon ^{}(J_\epsilon )=\omega `$ $`=2\pi k/T`$. Note that $`sup_{t[0,T]}|\zeta _{\psi _0^\pm }(t)(J_0,\psi _0^\pm +\omega t,\mathrm{\hspace{0.17em}0},\mathrm{\hspace{0.17em}0})|=O(\epsilon )`$.

###### Remark 6.1

The condition $`0<\epsilon T<1/c_1`$ (for $`c_1`$ large enough) required in the Theorem is sharp. Indeed, for $`\epsilon T=O(1)`$ some further resonance phenomenon can appear, destroying any periodic solution: note that $`e^{\mathrm{i}\epsilon \stackrel{~}{\mathrm{\Omega }}(J_\epsilon )T}\mathrm{𝟏}_2`$ could be degenerate. It is for reaching this estimate that we take $`N=4`$ in the Hamiltonian (112).

We now show that Theorems 0.3 and 0.4 follow by Theorem 6.1.
Consider $`J_0`$, $`T>0`$, $`k=(k_1,k_2)𝐙^2`$ with gcd$`(k_1,k_2)=1`$, such that $`\omega :=h_0^{}(J_0)=2\pi k/T`$, i.e. (155) holds. Under suitable restrictions on $`\epsilon `$ and $`T`$ we shall prove that $`J_0U`$ where $`U=U(\epsilon )`$ is the domain defined in (114).

First of all we claim that there exists a constant $`c_2>0`$ large enough such that

$$\epsilon e^{T/c_2}\omega \mathrm{}0,0<|\mathrm{}|K$$
(157)
where $`K=K(\epsilon )=\mathrm{const}\mathrm{log}(1/\epsilon )`$ is defined in (115). In fact, since gcd$`(k_1,k_2)=1`$,

$$\omega \mathrm{}=0k\mathrm{}=0\mathrm{}𝐙(k_2,k_1)|\mathrm{}||k|.$$
(158)
Moreover

$$|k|=T\frac{|h_0^{}(J_0)|}{2\pi }c_{}T$$
(159)
where $`c_{}:=(1/2\pi )\mathrm{min}_{J_0}|h_0^{}(J_0)|>0`$ (note that $`h_0^{}(J_0)=(\kappa _1J_{01}^3,\kappa _2J_{02}^3)0`$ and $``$ is compact).

From (158)-(159) and the hypothesis $`\epsilon e^{T/c_2}`$, we obtain that $`k\mathrm{}=0`$, $`\mathrm{}0`$, imply $`|\mathrm{}|c_{}T>c_{}c_2\mathrm{log}(1/\epsilon )`$. For $`c_2`$ large enough, $`c_{}c_2\mathrm{log}(1/\epsilon )>`$ $`K=`$ $`\mathrm{const}\mathrm{log}(1/\epsilon )`$, and we conclude that $`k\mathrm{}0`$ for all $`0<|\mathrm{}|K`$. The claim is proved.

It follows that $`0<|\mathrm{}|K`$, $`k\mathrm{}1`$ and hence $`|\omega \mathrm{}|=`$ $`2\pi |k\mathrm{}|T^12\pi T^1`$. Moreover, if $`\epsilon \mathrm{log}^2(1/\epsilon )c_3T^2`$, then $`2\pi T^12\pi \sqrt{\epsilon /c_3}\mathrm{log}(1/\epsilon )\alpha =`$ $`\mathrm{const}\sqrt{\epsilon }\mathrm{log}(1/\epsilon )`$ (the constant $`\alpha `$ is defined in (115)) for a suitable $`c_3>0`$ large enough.

We have proved that conditions $`\epsilon e^{T/c_2}`$ and $`\epsilon \mathrm{log}^2(1/\epsilon )c_3T^2`$ imply $`J_0U`$. In conclusion, defining the functions

$$\underset{¯}{\epsilon }(T):=\mathrm{min}\{e^{T/c_2},(c_1T)^1,\epsilon _1\}\mathrm{and}\overline{\epsilon }(T):=\mathrm{min}\{F(c_3T^2),(c_1T)^1,\epsilon _1\},$$
(160)
where $`F`$ is the inverse of $`G(\epsilon ):=\epsilon \mathrm{log}^2(1/\epsilon )`$ and $`c_1,\epsilon _1`$ are defined in Lemma 6.1, we have proved:

###### Lemma 6.2

Let $`T>0`$, $`k=(k_1,k_2)𝐙^2`$, with gcd$`(k_1,k_2)=1`$, and $`J_0`$ such that $`\omega :=h_0^{}(J_0)=\frac{2\pi k}{T}`$ holds. Then

$$\underset{¯}{\epsilon }(T)\epsilon \overline{\epsilon }(T)J_0U.$$
(161)
We can finally deduce Theorems 0.3 and 0.4.

Proof of Theorem 0.3: It is a direct consequence of Lemma 6.2 and of Theorem 6.1 taking $`\underset{¯}{\epsilon }(T)`$, $`\overline{\epsilon }(T)`$ as in (160) and $`T_0>0`$ as the last instant for which $`\underset{¯}{\epsilon }(T_0)=\overline{\epsilon }(T_0)`$ . $`\mathrm{}`$

Proof of Theorem 0.4: Define

$$\underset{¯}{T}(\epsilon ):=\mathrm{min}\{c_2\mathrm{log}\frac{1}{\epsilon },\frac{1}{c_1\epsilon _1}\}\mathrm{and}\overline{T}(\epsilon ):=\mathrm{min}\{\frac{\sqrt{c_3}}{\sqrt{\epsilon }\mathrm{log}(1/\epsilon )},\frac{1}{c_1\epsilon _1}\}$$

with $`\epsilon _1,c_2,c_3`$ defined above. Theorem 0.4 is a direct consequence of Lemma 6.2 and of Theorem 6.1. $`\mathrm{}`$

## 7 Appendix: Proof of Proposition 5.1

We first recall the following Averaging Theorem, the proof of which can be found in \[BCV\]. We first introduce some notations. For $`r,\rho ,s>0`$ and $`U𝐑^2`$ we denote the complex set $`W_{r,\rho ,s}:=U_r\times 𝐓^2\times D_\rho ^4.`$ For a function $`f:=f(I,\phi ,p,q)`$ real analytic for $`(I,\phi ,p,q)W_{r,\rho ,s}`$ we denote by $`f_{r,\rho ,s}`$ its “sup-Fourier” norm given by

$$f_{r,\rho ,s}:=\underset{k𝐙^2}{}\left(\underset{(I,p,q)U_r\times D_\rho ^4}{sup}|f_k(I,p,q)|\right)e^{|k|s}.$$

###### Proposition 7.1 (Averaging Theorem)

Let $`_0:=h_0(I_0)+f_0(I_0,\phi _0,p_0,q_0)`$ be a real-analytic Hamiltonian on $`W_{r,\rho ,s}`$. Assume that there exist $`\alpha _0,K>0`$, satisfying $`Ks6`$, such that

$$|h_0^{}(I_0)k|\alpha _0/2,k\{k𝐙^2:0<|k|K\},I_0U_r.$$
(162)
Assume, also, that, if $`d:=\mathrm{min}\{rs,\rho ^2\}`$, then

$$f_0_{r,\rho ,s}<\frac{\alpha _0d}{cKs},$$
(163)
where $`c>1`$ is a suitable (universal) constant. Then, there exists a real-analytic symplectic transformation

$$\mathrm{\Psi }:(I^{},\phi ^{},p^{},q^{})W_{r/2,\rho /2,s/6}(I_0,\phi _0,p_0,q_0)=\mathrm{\Psi }(I^{},\phi ^{},p^{},q^{})W_{r,\rho ,s}$$
(164)
and a real-analytic function $`g_0=g_0(I^{},p^{},q^{})`$ such that

$$^{}:=_0\mathrm{\Psi }=h_0+g_0+f_{},$$
(165)
and the following bounds hold282828$`f_{0,0}`$ denotes the 0-Fourier coefficient of $`f_0`$, i.e., its $`\phi `$-average.:

$$\underset{(I^{},p^{},q^{})U_{r/2}\times V_{\rho /2}}{sup}|g_0(I^{},p^{},q^{})f_{0,0}(I^{},p^{},q^{})|\frac{c}{\alpha _0d}f_{r,\rho ,s}^2,$$
(166)
$$f_{}_{r/2,\rho /2,s/6}e^{Ks/6}f_{r,\rho ,s}.$$
(167)
Furthermore, for each $`(I^{},\phi ^{},p^{},q^{})W_{r/2,\rho /2,s/6}`$, $`(I_0,\phi _0,p_0,q_0)=\mathrm{\Psi }(I^{},\phi ^{},p^{},q^{})`$ satisfies

$$s|I_0I^{}|,r|\phi _0\phi ^{}|,\rho |p_0p^{}|,\rho |q_0q^{}|\frac{cf_{r,\rho ,s}}{\alpha _0}.$$
(168)
Let, now, $`_0=h_0+f_0`$ be as in (107). and $`U`$ as in (114). The estimate (116) directly follows by the definition of $`U.`$ Next, let us choose the sets and the parameters involved in Proposition 7.1 as follows:

$$K:=\frac{6(N1)}{s_0}\mathrm{log}\frac{1}{\epsilon },\alpha _0:=2\underset{_{\sigma _0}}{sup}|h_0^{\prime \prime }|rK,r=c_{}\sqrt{\epsilon }\sigma _0,s:=s_0,\rho :=\rho _0,$$
(169)
where $`c_{}`$ is a suitable large constant to be fixed later and $`\sigma _0,s_0,\rho _0`$ were defined in (109). Moreover we better specify the definition of $`U`$ in (114):

$$U:=\left\{J:|h_0^{}(J)\mathrm{}|\alpha _0,\mathrm{}𝐙^2,0<|\mathrm{}|K\right\}𝐑^2.$$

The estimate (116) directly follows by the previous definition. Notice that, from these definitions, there follows (for $`\epsilon `$ small enough) that

$$\alpha _0=\mathrm{const}\sqrt{\epsilon }\mathrm{log}\frac{1}{\epsilon },d=\mathrm{const}r,\frac{\alpha _0d}{cKs}=\mathrm{const}\epsilon c_{}^2,$$
(170)
(clearly, in the last evaluation, “$`\mathrm{const}`$” does not involve $`c_{}`$).

Now, it is not difficult to check that, choosing $`c_{}`$ big enough and letting $`\epsilon `$ be small enough, assumptions (162) and (163) are met. In fact, observing that $`f_0`$ in (107)-(5) is such that

$$f_0_{r,\rho ,s}\mathrm{const}\epsilon ,$$

(163) follows from last equality in (170), by choosing $`c_{}`$ large enough. As for (162), observe that for any point in $`I_0U_r`$ there is a point $`I_0^{}U`$ at distance less than $`r`$ from it. Hence by the definitions of $`\alpha _0`$ and $`r`$ and by Cauchy estimates292929“Cauchy estimates” allow to bound $`n`$-derivatives of analytic functions on a set $`A`$ in terms of their sup-norm on larger domains $`A^{}A`$ divided by $`\mathrm{dist}(A,A^{})^n`$., for any $`I_0U_r`$ and any $`0<|k|K`$,

$`|h_0^{}(I_0)k|`$ $``$ $`|h_0^{}(I_0^{})k||h_0^{}(I_0^{})h_0^{}(I_0)||k|`$
$``$ $`\alpha _0\underset{_{\sigma _0}}{sup}|h_0^{\prime \prime }|rK`$
$`=`$ $`\alpha _0/2,`$
which proves also (162). Thus, by Proposition 7.1, there exists a real analytic symplectic transformation

$$\mathrm{\Psi }:(I^{},\phi ^{},p^{},q^{})𝒟_1:=U_{\frac{r}{2}}\times 𝐓_{\frac{s}{6}}^2\times D_{\frac{\rho }{2}}^4(I_0,\phi _0,p_0,q_0)U_r\times 𝐓_{s_0}^2\times D_{\rho _0}^4𝒟_0,$$

such that

$`|I^{}I_0|\mathrm{const}{\displaystyle \frac{\epsilon }{\alpha }}_0=\mathrm{const}{\displaystyle \frac{\sqrt{\epsilon }}{\mathrm{log}\frac{1}{\epsilon }}}`$
$`|p^{}p_0|,|q^{}q_0|\mathrm{const}{\displaystyle \frac{\epsilon }{\alpha _0\rho }}=\mathrm{const}{\displaystyle \frac{\sqrt{\epsilon }}{\mathrm{log}\frac{1}{\epsilon }}},`$ (171)
and which casts the Hamiltonian $`_0`$ into $`^{}:=_0\mathrm{\Psi }`$ with

$$^{}(I^{},\phi ^{},p^{},q^{}):=h(I^{})+g(I^{},p^{},q^{})+f_{}(I^{},\phi ^{},p^{},q^{}),$$
(172)
where (since, by (5), $`f_{0,0}`$ coincides with $`\epsilon f_1(I,p,q)`$)

$`\underset{(I^{},p^{},q^{})U_{r/2}\times V_{\rho /2}}{sup}|g_0\epsilon f_1|`$ $``$ $`\mathrm{const}{\displaystyle \frac{\epsilon ^2}{\alpha _0r}}=\mathrm{const}{\displaystyle \frac{\epsilon }{\mathrm{log}(1/\epsilon )}},`$
$`f_{}_{r/2,\rho /2,s/6}`$ $``$ $`\mathrm{const}\epsilon e^{Ks/6}\mathrm{const}\epsilon ^N.`$ (173)
Thus, setting $`g_0=:\epsilon \overline{g}`$, $`f_{}=:\epsilon ^N\overline{f}`$, we see that $`^{}`$ can be rewritten as

$`^{}`$ $`:=`$ $`h(I^{})+\epsilon \overline{g}(I^{},p^{},q^{})+\epsilon ^N\overline{f}(I^{},\phi ^{},p^{},q^{}),`$
$`\overline{g}`$ $`=`$ $`f_1(I^{},p^{},q^{})+{\displaystyle \frac{1}{\mathrm{log}(1/\epsilon )}}\overline{f}_1(I^{},p^{},q^{})`$ (174)
with $`\overline{f}`$ and $`\overline{f}_1`$ real-analytic on $`𝒟_1`$ (compare (169)).

We now look for elliptic equilibria of the Hamiltonian $`\overline{g}`$ in (7). Set

$$G(I^{},p^{},q^{}):=(_p^{}\overline{g}(I^{},p^{},q^{}),_q^{}\overline{g}(I^{},p^{},q^{})).$$

Recalling (7) and the definition of $`f_1`$ in (5), we see that, by (5),

$$G(I^{},0,0)|_{\epsilon =0}=0\mathrm{and}det_{(p^{},q^{})}G(I^{},0,0)|_{\epsilon =0}=16(\overline{\mathrm{\Omega }}_1\overline{\mathrm{\Omega }}_2)^2>0,I^{}U_{r/2}.$$

Therefore, by the Implicit Function Theorem, we infer that, for any $`I^{}U_{r/2}`$ and for $`\epsilon `$ small enough, there exist real-analytic functions, so that

$$I^{}U_{r/2}(p^{}(I^{},\epsilon ),q^{}(I^{},\epsilon ))B_{\mathrm{const}/\mathrm{log}\frac{1}{\epsilon }}B_{\rho /2},$$

and

$$_p^{}\overline{g}(I^{},p^{}(I^{},\epsilon ),q^{}(I^{},\epsilon ))=0=_q^{}\overline{g}(I^{},p^{}(I^{},\epsilon ),q^{}(I^{},\epsilon )).$$
(175)
For $`\epsilon `$ small enough, we can consider the following analytic symplectic transformation, which leaves fixed the $`I^{}`$-variable and is $`O(\frac{1}{\mathrm{log}\frac{1}{\epsilon }})`$close to the identity303030$`\mathrm{\Phi }^{}`$ has generating function $`J^{}\phi ^{}+\left(v^{}+p^{}(J^{},\epsilon )\right)\left(q^{}q^{}(J^{},\epsilon )\right)`$.,

$$\mathrm{\Phi }^{}:(J^{},\psi ^{},v^{},u^{})U_{r/2}\times 𝐓_{s/7}^2\times D_{\rho /3}(I^{},\phi ^{},p^{},q^{})U_{r/2}\times 𝐓_{s/6}^2\times D_{\rho /2}^4,$$

given by

$`I^{}`$ $`=`$ $`J^{},`$
$`\phi ^{}`$ $`=`$ $`\psi ^{}+p^{}(J^{},\epsilon )_I^{}q^{}(J^{},\epsilon )+_I^{}q^{}(J^{},\epsilon )v^{}_I^{}p^{}(J^{},\epsilon )u^{},`$
$`p^{}`$ $`=`$ $`v^{}+p^{}(J^{},\epsilon ),`$
$`q^{}`$ $`=`$ $`u^{}+q^{}(J^{},\epsilon ).`$
In view of (175), the new Hamiltonian $`\widehat{}:=^{}\mathrm{\Phi }^{}`$ has the form

$$\widehat{}(J^{},\psi ^{},v^{},u^{})=h(J^{})+\epsilon \widehat{g}(J^{},v^{},u^{})+\epsilon ^N\widehat{f}(J^{},\psi ^{},v^{},u^{}),$$

with $`\widehat{f}`$ and $`\widehat{g}`$ analytic in $`U_{r/2}\times 𝐓_{s/7}^2\times D_{\rho /3}`$ and

$$_{v^{},u^{}}\widehat{g}(J^{},0,0)=_{p^{},q^{}}\overline{g}(I^{},p^{}(I^{},\epsilon ),q^{}(I^{},\epsilon ))=0,I^{}U_{r/2}.$$

Also, the eigenvalues of the symplectic quadratic part of $`\widehat{g}`$ are given by $`\pm \mathrm{i}\widehat{\mathrm{\Omega }}_j(J^{})`$, for $`j=1,2`$, where

$$\widehat{\mathrm{\Omega }}_j𝐑\mathrm{and}|\widehat{\mathrm{\Omega }}_j\overline{\mathrm{\Omega }}_j|\mathrm{const}\frac{1}{\mathrm{log}\frac{1}{\epsilon }}.$$
(176)
Thus, by a well known result by Weierstrass on the symplectic diagonalization of quadratic Hamiltonians, we can find an analytic transformation $`O(\frac{1}{\mathrm{log}\frac{1}{\epsilon }})`$close to the identity

$$\stackrel{ˇ}{\mathrm{\Phi }}:(J,\psi ,v,u)U_{r/2}\times 𝐓_{s/8}^2\times D_{\rho /4}^4(J^{},\psi ^{},v^{},u^{})U_{r/2}\times 𝐓_{s/7}^2\times D_{\rho /3}^4,$$

so that $`J^{}=J`$ and the quadratic part of $`\widehat{g}`$ becomes, simply, $`_{j=1}^2\widehat{\mathrm{\Omega }}_j(J)(u_j^2+v_j^2)`$. Whence, the Hamiltonian $`\widehat{}`$ takes the form $`\stackrel{ˇ}{}:=\widehat{}\stackrel{ˇ}{\mathrm{\Phi }}`$, with

$$\stackrel{ˇ}{}(J,\psi ,v,u)=h_\epsilon (J)+\epsilon \underset{j=1}{\overset{2}{}}\widehat{\mathrm{\Omega }}_j(J)(u_i^2+v_i^2)+\epsilon \stackrel{~}{g}(J,v,u)+\epsilon ^N\stackrel{~}{f}(J,\psi ,v,u),$$
(177)
where

$$h_\epsilon (J):=h_0(J)+\epsilon \widehat{g}(J,0,0),$$
(178)
$`\stackrel{~}{g}`$, $`\stackrel{~}{f}`$, $`\widehat{\mathrm{\Omega }}_j`$ are real-analytic for $`(J,\psi ,v,u)`$ in

$$𝒟_2:=U_{r/2}\times 𝐓_{s/8}^2\times D_{\rho /4}^4$$
(179)
and

$$\underset{JU_{r/2}}{sup}|\stackrel{~}{g}(J,v,u)|\mathrm{const}|(v,u)|^3.$$
(180)
Because of (176), the non-degeneracy condition (5) implies (for $`\epsilon `$ small enough)

$`\underset{JU}{inf}\widehat{\mathrm{\Omega }}_i\underset{JU_{r/2}}{inf}|\widehat{\mathrm{\Omega }}_i|\mathrm{const}>0,`$
$`\underset{JU}{inf}\left(\widehat{\mathrm{\Omega }}_2\widehat{\mathrm{\Omega }}_1\right)\underset{JU_{r/2}}{inf}|\widehat{\mathrm{\Omega }}_2\widehat{\mathrm{\Omega }}_1|\mathrm{const}>0.`$ (181)
Setting $`\stackrel{~}{\mathrm{\Omega }}_j:=2\widehat{\mathrm{\Omega }}_j`$ for $`j=1,2,`$ introducing complex coordinates

$$z=\frac{v+\mathrm{i}u}{\sqrt{2}},\overline{z}=\frac{v\mathrm{i}u}{\sqrt{2}}$$
(182)
and defining

$$g(J,z,\overline{z}):=\stackrel{~}{g}(J,\frac{z+\overline{z}}{\sqrt{2}},\frac{z\overline{z}}{\mathrm{i}\sqrt{2}})\mathrm{and}f(J,\psi ,z,\overline{z}):=\stackrel{~}{f}(J,\psi ,\frac{z+\overline{z}}{\sqrt{2}},\frac{z\overline{z}}{\mathrm{i}\sqrt{2}}),$$

we obtain (112). Finally (113),(117),(5.1), follows from (169),(180),(7), respectively.

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