Identifying coordinate transformations that make strongly nonlinear dynamics approximately linear is a central challenge in modern dynamical systems. These transformations have the potential to enable prediction, estimation, and control of nonlinear systems using standard linear theory. The Koopman operator has emerged as a leading data-driven embedding, as eigenfunctions of this operator provide intrinsic coordinates that globally linearize the dynamics. However, identifying and representing these eigenfunctions has proven to be mathematically and computationally challenging. This work leverages the power of deep learning to discover representations of Koopman eigenfunctions from trajectory data of dynamical systems. Our network is parsimonious and interpretable by construction, embedding the dynamics on a low-dimensional manifold that is of the intrinsic rank of the dynamics and parameterized by the Koopman eigenfunctions. In particular, we identify nonlinear coordinates on which the 查看全文>>