1. Introduction and Preliminary Concepts
It is widely known that fixed-point iterative methods play a fundamental role in scientific disciplines such as Celestial Mechanics (see for example [
1,
2]), Electrical Power Systems [
3], Chemistry [
4], Hydraulic Engineering [
5], and Civil Engineering [
6]. These algorithms provide approximate solutions when exact solutions are challenging to obtain or when problems are ill-conditioned, while offering computational efficiency in terms of both time and computational resources.
In the field of numerical analysis, a current trend involves designing families of numerical methods that generalize existing approaches. Notable examples include King’s family [
7] as well as the one developed by Hueso et al. in [
8]. A number of these methods incorporate weight functions into their design process; see for example [
9,
10].
The efficiency index of an iterative method was defined by Ostrowski in [
11] as
, where
p is the order of convergence and
d is the number of functional evaluations per iteration. This concept is directly related to Kung and Traub’s conjecture [
12], which states the order of convergence of any iterative scheme cannot be greater than
(called the optimal order).
Several authors have generalized optimal iterative schemes according to the Kung–Traub conjecture. However, because there is no difference between the number of function evaluations and the order of the members within a class of iterative procedures, it is necessary to conduct a stability study on some simple nonlinear functions, such as quadratic polynomials. It has been observed that iterative schemes stable for such functions tend to perform better when applied to more complicated functions than methods exhibiting pathologies. To this end, the tools of complex discrete dynamics are employed to analyze stability in quadratic polynomials (see for example the work of Amat et al. in [
13,
14], Argyros et al. in [
15], Behl et al. in [
16], Chicharro et al. in [
17], Rafiq et al. in [
18], Kansal et al. in [
19], Khirallah et al. in [
20], and Moccari et al. in [
21], among others).
A detailed description of the following concepts in complex dynamics appears in [
22,
23]. Let
R be be a rational function on the Riemann sphere
,
; then, we denote by
the operator
, with
and
being complex polynomials. Usually,
R is obtained by applying an iterative scheme on a quadratic polynomial
.
Given , the orbit of under R is the sequence of points . Point is called the seed of the orbit. There are many different kind of orbits in a typical dynamical system. Undoubtedly, the most important kind of orbit is a fixed point, that is, a point that satisfies . Another important element is the periodic orbit or cycle. A point is n-periodic if for some , with for any . The smallest value of n for which the orbit becomes periodic is known as the period of the orbit.
Let us suppose that is a fixed point of R; then, is an attracting fixed point if . The point is a repelling fixed point if . Finally, if , then the fixed point is called neutral or indifferent.
Theorem 1 ([
23])
. Attracting Fixed Point Theorem. Suppose that is an attracting fixed point for R. Then, there exists a domain D contained within the Riemann sphere such that and in which the following conditions are satisfied: if , then for all n; moreover, , as . Theorem 2 ([
23])
. Repelling Fixed Point Theorem. Suppose that is a repelling fixed point for R. Then, there exists a domain D contained within the Riemann sphere such that and in which the following condition is satisfied: if and , then there is an integer such that . Now, let us suppose that is an attracting fixed point for R. The basin of attraction of is the set of all points with orbits tending to . The immediate basin of attraction of is the largest convex component containing that lies in the basin of attraction. The critical points of the operator R are those that meet . A critical point is called free if it does not match the roots of the polynomial. These two concepts are closely related to the next result.
Theorem 3 ([
24,
25])
. If R is a rational function, then the immediate basin of attraction of a periodic (or fixed) attracting point contains at least one critical point. Fatou and Julia studied the iteration of rational maps
under the assumption that
. They focused on a disjoint invariant decomposition of
into two sets. One of these sets is often called the Julia set. The other is referred as the Fatou set [
22]. The Fatou set is the union of all basins of attraction, and the Julia set is its boundary.
Per Theorem 3, all of the attracting behaviours of a rational function can be found by iterating the free critical points and classifying them by their asymptotical performance in the Fatou set. This is accomplished by means of the parameter plane in the case where the rational function R depends on a complex parameter . This is the graphical representation that provides information about the choice of one or another value of a parameter within a family of iterative methods. This graphical representation directly relates each point in the complex plane to the corresponding parameter value that specifies each member of the family. Given a free critical point of R used as the initial estimate, the parameter plane indicates which attracting periodic orbit or fixed point the orbit of the critical point converges to.
When all of the free critical points are known, we can calculate the parameter planes to determine which values of relate the final state of all free critical points to any of the roots of . According to Theorem 3, this ensures the stability (on quadratic polynomials) of the associated elements of the class, as the only basins of attraction correspond with these roots.
Given a free critical point as a seed of the rational function R, we define as the set of values of where the free critical point is in the basin of attraction of any of the roots of .
The characteristic function of the set
is defined as
Therefore, we can consider the parameter plane by representing the characteristic function of
, where a red color is assigned when
and black when
.
Our interest is to determine the values of
for which the final state of the orbits of all free critical points is one of the polynomial roots. Because we construct a parameter plane for each free critical point, we proceed to construct the intersection of the parameter planes, which is called the unified parameter plane [
26]. In this plane, we graph
, where
n is the number of free critical points of the rational operator. Each red-colored point corresponds to values of
for which all members of the family of iterative schemes are stable on quadratic polynomials.
One way to validate the information obtained through parameter planes is to use dynamical planes, which graphically represent the basins of attraction of a set of initial values for a specific member of the family, that is, for a value of . In other words, given a parameter value for which the associated method is stable, its dynamical plane is composed only of the basins of the polynomial roots. This indicates that it will always be able to converge to one of the roots, regardless of the initial estimate of the method. On the other hand, if the parameter value is in the instability region on the parameter plane, other basins corresponding to attracting periodic or strange fixed points appear in addition to the basins of the roots. Through the dynamical planes, we can determine the attracting fixed point to which the orbit of any initial estimate converges for a specific value of .
The basin of attraction for the root
is represented in orange color, while the basin for
is represented in blue. Additionally, different colors such as green, red, etc. are assigned depending on the number of attracting strange fixed points associated with
, and black is used to represent basins of periodic orbits. The decrease in brightness of each color is an indicator of the size of the orbit of each point, meaning that brighter colors represent points that require fewer iterations to reach the fixed or periodic point. The codes used to present the parameter and dynamical planes are defined by Chicharro et al. in [
27].
Let us remark that all of the obtained information depends on the quadratic polynomial
used to define the rational function
R by applying the class of iterative methods on it. A key tool to extend these results to any quadratic polynomial is the conjugation. Let
f and
g be two functions from the Riemann sphere to itself. An analytic conjugation between
f and
g is a diffeomorphism
h of the Riemann sphere onto itself such that
, where
h is called the conjugation. In [
28], Blanchard introduced the conjugation map
, which is a Möbius transformation satisfying the following properties:
,
, and
, with
a and
b being the roots of the arbitrary quadratic polynomial
.
The next result was proven by [
22,
29] for Newton’s method. In
Section 3, the Scaling Theorem is proven for the rational function related to the proposed class of iterative methods.
Theorem 4. Scaling Theorem. Let be an analytic function and let , with as an affine application. If with , then is analytically conjugate with through A, i.e.,
If a family of iterative methods satisfies the Scaling Theorem, then the Möbius transformation can be applied. As demonstrated by Blanchard in [
22], the asymptotic behavior of the system is qualitatively equivalent under conjugation. This allows us to perform dynamical analysis on an associated operator that does not depend on the roots
a and
b. Instead, the dynamical study is conducted based on their corresponding values in the new operator, which are
and
. Additionally, the strange fixed point
is the divergence of the original scheme. This makes the analysis of its stability particularly important.
In the following
Section 2 a one-parametric class of iterative procedures with fourth-order of convergence is designed using the weight function technique. In
Section 3, the rational function resulting from the fixed point operator applied on a quadratic polynomial
is analyzed. More specifically, we study the dynamics of the fixed points of this rational operator
R, allowing us to determine its stability. In
Section 4, the numerical behavior of some of the most stable members on other non-polynomial functions is analyzed and compared with other known methods from the literature. Finally, in
Section 5, conclusions highlighting the most significant findings of the research are presented.
3. Complex Stability Analysis
In
Section 2, we have set the conditions for the following iterative scheme to be a fourth-order optimal class of iterative methods:
where
.
If we assign integer values to , , , and , all distinct from each other, and define for as in Theorem 6, then the following result demonstrates that the resulting one-parametric subfamily satisfies the Scaling Theorem. As a result, the Möbius transformation can be used as an analytical conjugation to analyze the stability of its members on quadratic polynomials by means of its associated rational operator.
Theorem 7. Let be an analytic function, let R be the rational operator associated with the iterative scheme (9), and let with , an affine transformation. Let ; then, and are analytically conjugated by .
Proof. Let us consider
; taking into account that
and
, and it can be deduced that
Thus,
and
are analytically conjugated by
. Then,
Because
and
we have
Using the fact that
,
we obtain
Because
, we have
meaning that
and
are analytically conjugated by
. □
3.1. Asymptotical Study of Fixed Points
As a consequence of Theorem 7 we know, under the conditions established for the parameters and for in class (9), that the dynamical behavior of the associated rational operator remains invariant under the Möbius transformation through conjugation over quadratic polynomials.
Applying the family of iterative methods (9) on , where , we obtain the associated rational operator after conjugation with the Möbius map .
Now, for the dynamical analysis, distinct integer values are assigned to , and and the dynamics of the rational operator of the parametric family associated with these values is studied. We use the following criteria to select the class:
As our aim is to construct a parameter plane for each independent free critical point, the polynomial with roots that are critical points depending on should have a degree no higher than 4. This is because it becomes extremely laborious to construct parameter planes when the critical points that depend on are the roots of a high-degree polynomial.
It is necessary to find a radius disk where
as much as is possible. By making
in
, it is easy to see that
, where
and
Then,
when
, and now
is defined such that we choose values of
and
where
can be made as large as desired.
The coefficients of the rational operator must be simple in the sense that they do not exceed three digits.
Table 1 presents the degrees of those polynomials with zeros that are free critical points of the rational operator associated with 330 one-parameter families constructed with values of
,
,
, and
taken from the set of all unique permutations of integers from −5 to 5. Within this set, nine families can be identified that meet the criteria established in the first point. Of these, eight families have an associated polynomial of degree 4, while one family has a polynomial of degree 2.
Table 2 presents the values of
for
, radius
, and rational function of those classes of iterative schemes such that the polynomials generating the free critical points have a degree lower than or equal to four. It can be observed that the families by Hueso et al. (6) and Cordero et al. (7) meet our selection criteria. In the case of the first family, the radius as a function of
of the disk where divergence is repelling is 24, and the polynomial that meets the first criterion is of degree 4. On the other hand, the second class has a radius as a function of
of 54, and possesses the only second-degree polynomial that satisfies the first criterion among all possible formed families. In both families, the coefficients of the rational operators do not exceed three digits.
The family associated with has a divergence radius greater than that of the two families mentioned earlier, and the polynomial degree is 4. However, the coefficients of the rational operator are not simple. On the other hand, the family associated with has simple coefficients and a radius of 36, which is greater than the radius of the family studied by Hueso et al. (6). Therefore, we focus our analysis on this family. It is worth mentioning that it would be interesting to study the dynamical behavior of the family associated with or , as well as other families, without considering the simple coefficient criterion.
From
Table 2, we denote the rational operator of the family associated with
by
Now, let us analyze some properties of the rational operator
R.
Theorem 8. The fixed points of the rational function are , , and the following strange fixed points:
, which corresponds to divergence from the original method
where and
Proof. From the definition of a fixed point, we have
. Then,
Thus,
and
Let
denote the last factor of this equation. If we substitute
, then
and
. Thus,
. Therefore, the factor
must be zero. Consequently, we have
where
Therefore, for , and Note that the strange fixed points , as is a symmetric polynomial:
where .
In a similar way, it can be easily checked that is a fixed point of ; thus, is a fixed point of R. □
It is clear that the long-term behavior of fixed points is influenced by . This dependence can result in an attracting character of some strange fixed points, leading the corresponding numerical method to attract elements that are not solutions to the problem under investigation.
In order to perform a stability analysis of the fixed points, we can evaluate their derivative operator:
where
.
Fixed points and have a superattracting character, as for those values. However, the stability of provides important numerical information, as it indicates divergence in the original procedure. Hence, we determine the stability of these fixed points in the forthcoming results.
Theorem 9. For , the fixed point has the following characteristics:
- (i)
It can not be superattracting;
- (ii)
When , it is repelling;
- (iii)
If , is neutral;
- (iv)
When , then is attracting.
Proof. - (i)
The derivative is always different from zero; thus, cannot be superattracting. Moreover, it is not defined for ; thus, is not a fixed point for this value of .
- (ii)
According to the definition, is a repelling fixed point if . Therefore, is equivalent to .
Let us consider an arbitrary complex number
. Then,
is equivalent to
, indicating that the divergence represents a repelling fixed point for values of
inside the disk
centered at
with a radius of 36. It is neutral at the circumference and attracting outside the disk; see
Figure 1 for a visual representation.
The proofs for items (iii) and (iv) follow a similar approach to that for item (ii). □
We aim for the only attracting fixed points to be and . Therefore, the stability function at the other fixed points should always be greater than one. Indeed, to prevent divergence, a stable method must be defined with a value from within the disk .
Figure 2 displays the stability function of
and
, indicating that there are only attracting fixed points inside the orange cardioid contained within the rectangular region defined by
Figure 3 displays the stability surfaces of the strange fixed points
for
, illustrating that they are always repelling for
values inside the disk
.
On the other hand, we know that and are critical points for all values of . The following result identifies the critical points of the rational operator, which allows us to determine the values of for which the zeros of are the only attracting elements.
Theorem 10. The rational operator R has the following free critical points:
- (i)
- (ii)
- (iii)
- (iv)
- (v)
where and
Proof. It is straightforward that
where
. Hence, the free critical points are
and the solutions of the equation
. Thus, it can be expressed as
and we have
By making
, we have
. Then,
and
Because
,
and we have
Thus, the free critical points are for , , and
Note that
for
. Therefore,
□
3.2. Parameter Plane
By means of Theorem 3, the critical points are employed to locate the basins of attraction of periodic or fixed attracting points. To achieve this, they are used as initial guesses, then the parameter planes are used to locate those values of where the only attracting elements are the roots of polynomial .
The parameter plane is plotted for values of
in the rectangular region defined by
as it contains
. To generate the plot, we use a grid of
points, a maximum of 200 iterations, and a tolerance of
.
Given a free critical point as the initial estimate for our iterative scheme, we define as the loci of the complex plane defined by the values of for which the free critical point is in the basin of attraction of or . The parameter plane is represented by the graph of the characteristic function of set , where the color red is assigned when and black is assigned when . We plot the parameter plane for values in the interior of the disk (defined in Theorem 9); this region guarantees the divergence, as is repelling.
Figure 4 displays the parameter planes corresponding to the critical points
, where
. Let us remark that because conjugate critical points have the same parameter plane, only two of them are independent.
On the other hand,
Figure 5 represents the unified parameter plane corresponding to the characteristic function
, where each point colored in red corresponds to values of
for which all members of our family of iterative schemes are stable on quadratic polynomials.
3.3. Dynamical Planes of Some Stable and Unstable Members
In
Figure 5, red represents the values of
associated with stable members. To obtain additional complementary information that allows us to verify the stability characterization obtained through the parameter planes and the stability functions of the strange fixed points, in
Figure 6 we present the corresponding dynamical planes for some stable and unstable values, as per the information obtained from the intersection of parameter planes.
To construct the dynamical planes in
Figure 6, we define a grid in the complex plane with
points, where each one corresponds to a different value of the initial estimate
. Each dynamical plane shows the final state of the orbit of each point in the grid, considering a maximum of 200 iterations and a tolerance of
. In each dynamical plane, we mark certain special points: repelling fixed points (RFP) are marked with circles (∘), critical points (CP) with squares (□), and attracting fixed points (AFP) with asterisks (∗).
Through the dynamical planes, we can determine the attracting elements that the orbit of any initial estimate converge to when using the rational operator R with a specific value of . The basin of attraction of is represented in orange, while the basin of is represented in blue. Additionally, different colors such as green, red, etc., are assigned to other attracting strange fixed points, while black is used to represent basins of periodic orbits.
We have confirmed that the values of
in the red region of
Figure 5 have only two basins of attraction, namely,
and
. This guarantees that the iterative scheme associated with these values of
always converges to a root of
, regardless of the initial estimate
. Similarly, it is validated that there are always pathologies that depend on the initial estimate
for the methods associated with values of
in the black region of the parameter plane.
In
Table 3, we present a classification of the stability of the methods associated with the values of
presented in
Figure 6, along with the number of special points and the period of the attracting orbits found for each
.
4. Numerical Tests
In this section, numerical tests are conducted on some academical functions. Our goal is to determine whether methods that are stable in the previous analysis for quadratic polynomials perform better than unstable methods on non-polynomial functions. Subsequently, we compare the most effective methods on these functions with other well-known iterative methods in the field of numerical analysis, such as:
Newton’s method, the iterative expression of which is
Chun’s method, defined in [
9] as
Ostrowski’s method, proposed in [
11] and expressed as
Kung-Traub’s method, defined in [
12] with the iterative expression
and Jarratt’s method, constructed in [
30] as
For our comparative analysis, we consider the best performing methods to be those iterative schemes that converge in the least number of iterations, where the estimation of the error is as small as possible, and where the theoretical order is closely approximated by the computational convergence order (ACOC) as defined by Cordero and Torregrosa in [
31]:
The test functions and their zeros to be estimated are as follows:
We present numerical results obtained using a Thinkpad T480s laptop equipped with an eighth-generation Core i7 processor (Intel(R) Core(TM) i7-8650U CPU @ 1.90 GHz 2.11 GHz) and 16 GB of RAM. We used the academic version of MATLAB R2021b, employing variable-precision arithmetics with 200 digits.
Table 4 displays the number of iterations required for each proposed method to achieve the desired convergence for each of the functions when using the parameter values specified in
Table 3. It can be observed that methods associated with values of
, which are stable for real quadratic polynomials, demonstrate good performance on these test functions. However, methods associated with stable complex
values fail to converge in at least one of the test functions, as do methods associated with unstable
values. For
, the associated method does not converge for either
or
. It is worth noting that the color intensity in the dynamical plane associated with this value of
indicates the number of iterations required to ensure convergence. The latter is more intense than those associated with the other stable real values of
, indicating that those converging in fewer iterations on quadratic polynomials are more reliable when applied to non-polynomial test functions (see
Figure 6).
As shown in
Table 4, seven of the methods associated with real values guarantee convergence within a maximum of nine iterations.
Table 5,
Table 6,
Table 7 and
Table 8 present the results obtained when applying Newton, Chun, Ostrowski, Kung and Traub, Jarratt, and the seven proposed methods. These tables provide information about the function to which each iterative method is applied, the initial estimate used (
), the target root (
) to which the methods are expected to converge within the stopping criterion
, the number of iterations (Iter) required for convergence, approximate order of computational convergence (ACOC), execution time (Time), estimation of the error in the last iteration (
and
), and the approximate solution
.
The results suggest that the methods associated with values demonstrate competitive performance compared to Kung and Traub, Newton, Chun, Ostrowski, and Jarratt based on our measurement parameters.