On the symmetries of a Rikitake type system (Q432691)

The authors consider the Rikitake type system of ODEs (\(\beta\) is a real parameter) \[ x' = y z + \beta y ,\;y' = x z - \beta x ,\;z' = - x y. \] For \(\beta = 0\), this system has a bi-Hamiltonian structure, with Hamiltonians \[ H_1 = (1/4) (x^2 - y^2) ,\;H_2 = (1/2) (x^2 + y^2 + 2 z^2); \] and Lie-Poisson structures given in matrix notation by \[ \pi_1 = (y/2) (\delta_{13} - \delta_{31}) + (x/2) (\delta_{23} - \delta_{32}) ,\;\pi_2 = y (\delta_{13} - \delta_{31}) - x (\delta_{23} - \delta_{32}) - 2 z (\delta_{12} - \delta_{21}). \] It results that the vector fields (\(k_1,k_2\) are real constants) \[ X = - t \partial_t + x \partial_x + y \partial_y + z \partial_z ,\;Y = (k_1 x + k_2 y z) \partial_x + (k_1 y + k_2 x z) \partial_y + (k_1 z - k_2 x y) \partial_z \] are a symmetry and a master symmetry, respectively, of the system in this case. For \(\beta \not= 0\), the system is Hamiltonian with \(H = (\beta / 2) (x^2 + y^2 + 2 z^2)\) and a Casimir function \(C = (1/4\beta ) (x^2 - y^2 + 4 \beta z)\). The system is set in canonical form with standard symplectic structure \(\omega = d p_1 \wedge d q_1 + d p_2 \wedge d q_2\) by the change of coordinates \(x = q_1\), \(y = p_1\), \(z = p_2 + (p_1^2 - q_1^2)/(4 \beta)\), which yields \[ H = \frac{1}{16 \beta} (q_1^4 + p_1^4 - 2 q_1^2 p_1^2) + \frac{1}{2} (p_1^2 p_2 - q_1^2 p_2) + \frac{\beta}{2} (p_1^2 + q_1^2 + 2 p_2^2). \] The system also admits a Lagrangian formulation with \[ L = \frac{1}{4 \beta} {\dot{q_2}}^2 - \frac{\beta}{2} {q_1}^2 + \frac{1}{4 \beta} q_1^2 {\dot{q_2}} + \frac{\beta {\dot{q_1}}^2}{\dot{q_2} + 2 \beta^2}. \] The vector fields \[ Z_1 = \partial_t\text{ and }Z_2 = \partial_{q_2} \] are symmetries, and actually variational symmetries, of the corresponding Euler-Lagrange equations.