The rotation set of a homeomorphism of the annulus is closed
If f: \(A\to A\) is an orientation preserving, boundary component preserving homeomorphism of the closed annulus, A, and \(\tilde f: \tilde A\to \tilde A\) is any lift, then the rotation set \(R(\tilde f)\) is closed. In the special case that f is area-preserving, then the rotation set is a closed interval. This generalizes work of \textit{S. Aubry} and \textit{P. Y. Le Daeron} [The discrete Frenkel-Kontorova model and its extensions. Pt. 1. Exact results for the ground states, Physica D 8, No.3, 381-422 (1983)] and of \textit{J. Mather} [Topology 21, 457-467 (1982; Zbl 0506.58032)] who have shown that if f is an area preserving twist map of the annulus, then \(R(\tilde f)\) is a closed interval.
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