Semi-global symplectic invariants of the spherical pendulum (Q1943481)

In this paper, the semi-global symplectic invariants near the focus-focus point of the spherical pendulum are explicitly computed. A modified Birkhoff normal-form procedure is presented to compute the expansion of the Hamiltonian near the unstable equilibrium point in Eliasson variables. Combining this with explicit formulas for the action, the semi-global symplectic invariants near the focus-focus point are found. It is shown that the Birkhoff normal form is the inverse of a complete elliptic integral over a vanishing cycle.