Reverse-engineering invariant manifolds with asymptotic phase
  We present a recipe for rendering a submanifold normally hyperbolic and invariant within a stability basin. The construction includes the ability to choose the asymptotic phase map. We are motivated by the notion of "templates and anchors" -- the biomechanical observation that animal motions are often governed by low dimensional dynamics -- and the growing applications in robotics which desire means for making such biologically derived templates govern the dynamics of robots. Our approach is fairly universal, in the sense that a broad range of model reduction constructions must be normally hyperbolic if they are robust, and a broad range of such normally hyperbolic systems can be produces from our construction. 
Matthew Kvalheim and Shai Revzen
math.DS math.OC q-bio.QM