Logarithmic Connections on Principal Bundles and Their Applications to Geometric Control Theory

Abstract

In this research, we establish a precise correspondence between the theory of logarithmic connections on principal G-bundles over compact Riemann surfaces and the geometric formulation of control systems on curved manifolds, providing a novel differential–geometric framework for analyzing optimal control problems with non-holonomic constraints. By characterizing control systems through the geometric structure of flat connections with logarithmic singularities at marked points, we demonstrate that optimal trajectories correspond precisely to horizontal lifts with respect to the connection. These horizontal lifts project onto geodesics on the punctured surface, which is equipped with a Riemannian metric uniquely determined by the monodromy representation around the singularities. The main geometric result proves that the isomonodromic deformation condition translates into a compatibility condition for the control system. This condition preserves the conjugacy classes of monodromy transformations under variations of the marked points, and ensures the existence and uniqueness of optimal trajectories satisfying prescribed boundary conditions. Furthermore, we analyze systems with non-holonomic constraints by relating the constraint distribution to the kernel of the connection form, showing how the degree of non-holonomy can be measured through the failure of integrability of the associated horizontal distribution on the principal bundle. As an application, we provide computational implementations for $\mathrm{SL}(2,\mathbb{C})$ connections over hyperbolic Riemann surfaces with genus $g\ge 2$, explicitly constructing the monodromy-induced metric via the Poincaré uniformization theorem and deriving closed-form expressions for optimal control strategies that exhibit robust performance characteristics under perturbations of initial conditions and system parameters.

1. Introduction

Control systems on manifolds have been extensively studied through various geometric frameworks, with applications ranging from robotic manipulation to spacecraft attitude control. The geometric approach to control theory has proven particularly effective when the configuration space possesses non-trivial topology, as it incorporates the constraints imposed by the underlying geometry.

Principal bundles provide a suitable structure for modeling geometric objects with symmetry. A principal G-bundle P over a manifold M consists of a total space P, a base space M, and a projection $\mathrm{proj}:P\to M$. Additionally, there is a free right action of a Lie group G on P that preserves the fibers of $\mathrm{proj}$. The importance of principal bundles in algebraic and differential geometry and mathematical physics stems from their ability to encode symmetry information in a geometric manner. The study by Kobayashi and Nomizu [1] is a classical reference for the basic theory of connections on principal bundles, establishing their fundamental role in differential and algebraic geometry. In particular, the classification of principal bundles over a fixed base space is related to the cohomology of the base space with coefficients in the structure group.

Principal bundles have been intensively studied, giving rise to several lines of research, such as the study of subvarieties and stratifications of their moduli space [2,3], or the analysis and description of principal bundles with specific structure groups [4]. These studies have found applications in diverse areas such as gauge theory, where the Yang–Mills functional measures the deviation of a connection from being flat [5], and in geometric quantization, where polarizations on symplectic manifolds can be encoded as connections on certain line bundles [6]. Also, Bianchini and Stefani [7] have explored the application of principal bundles to control theory, focusing on the symmetry properties of nonlinear control systems.

The theory of isomonodromic deformations of differential equations dates back to the work of Schlesinger [8], who introduced the equations now bearing his name to describe deformations of linear differential systems while preserving their monodromy. Later, Jimbo, Miwa, and Ueno [9] formalized this theory in terms of $\tau$-functions and established connections with integrable systems. The geometric interpretation of isomonodromic deformations in terms of connections on fiber bundles was developed by Hitchin [10] and extended by Boalch [11] to irregular singularities. More recent advances in the theory of isomonodromic deformations include the work of Lisovyy and Tykhyy [12], who explored connections with conformal field theory and Painlevé equations. Additionally, Gualtieri, Li, Pelayo, and Ratiu [13] have developed a framework for analyzing isomonodromic deformations in the context of generalized complex geometry, providing new insights into the underlying geometric structures.

Control theory on curved spaces has its foundations in the work of Brockett [14], who established the relationship between control systems and differential geometry. Sussmann [15] further developed the theory of controllability on manifolds, while Montgomery [16] provided a geometric framework for mechanical systems with symmetries. The specific case of control systems on principal bundles was studied by Krishnaprasad and Marsden [17], focusing on the role of symmetry reduction. From these foundational works, several significant advances have been made in the geometric control theory of systems with symmetry. Bloch [18] developed a theory of non-holonomic mechanics with symmetry, providing a framework for analyzing systems with constraints. Colombo and Martín de Diego [19] investigated the context of optimal control, establishing connections between symmetry reduction and Hamilton–Jacobi theory.

The dynamics of mechanical systems on principal bundles has been studied extensively in the context of geometric mechanics. The connection between symmetries and conservation laws, formalized in Noether’s theorem, provides a powerful tool for analyzing such systems. The mechanics of systems with symmetry can be read in the work of Marsden and Ratiu [20], who established the framework of Poisson reduction for Hamiltonian systems with symmetry. The extension of these ideas to control theory has been explored by Blankenstein et al. [21], who developed a theory of controlled Hamiltonian systems with symmetry. Furthermore, the relationship between connections on principal bundles and control systems has been explored in various contexts. Cendra, Marsden, and Ratiu [22] established a correspondence between mechanical control systems with symmetry and connections on principal bundles, focusing on the role of the mechanical connection in the analysis of controlled Lagrangian systems.

This work introduces a novel perspective by establishing a connection between logarithmic connections on principal G-bundles and control systems on curved surfaces. The framework provides new insights into the geometric structures underlying controllability and optimality of trajectories. Unlike previous approaches, this work leverages the geometric structure of logarithmic connections to derive control strategies that are adapted to the geometry of the configuration space. In particular, the main contributions of this paper include the following: (i) a characterization of control systems on principal bundles over punctured surfaces in terms of logarithmic connections; (ii) a criterion for controllability based on the Lie algebra generated by the residues of the connection; (iii) a demonstration that optimal trajectories correspond to horizontal curves that project to geodesics on the punctured surface with respect to a metric determined by monodromy data; and (iv) a framework for analyzing systems with non-holonomic constraints using logarithmic connections.

The paper is organized as follows: Section 2 provides preliminary concepts on principal bundles, connections, and control systems. Section 3 establishes the main results connecting logarithmic connections to control systems. Section 4 presents an application to robotic systems operating on curved surfaces and develops a detailed application for $\mathrm{SL}(2,\mathbb{C})$ connections over a hyperbolic Riemann surface of genus 2. Finally, the paper concludes by drawing the main conclusions and discussing directions for future research.

2. Preliminaries

This section establishes the necessary background for the main results concerning isomonodromic connections on principal G-bundles over Riemann surfaces.

Let C be a compact Riemann surface of genus $g\ge 2$, and G be a complex semi-simple Lie group with Lie algebra $\mathfrak{g}$. A holomorphic principal G-bundle P over C is a complex manifold with a free right G-action and a holomorphic projection $\mathrm{proj}:P\to C$ such that P is locally trivial with fiber G [23].

Definition 1

([1]). A connection on a principal G-bundle P is a $\mathfrak{g}$-valued 1-form $\omega \in {\Omega }^1(P,\mathfrak{g})$ such that

1 .

For any $v\in \mathfrak{g}$, $\omega \left(v^{\#}\right)=v$, where $v^{\#}$ is the fundamental vector field corresponding to v;

2 .

For any $g\in G$, $R_g^{*}\omega =\mathrm{Ad}\left(g^{-1}\right)\omega$, where $R_g$ is the right action of g on P.

The curvature of a connection $\omega$ is defined as

$$\Omega =d\omega +{\displaystyle \frac{1}{2}}[\omega ,\omega ].$$

A connection is flat if $\Omega =0$. Flat connections are important because they correspond to representations of the fundamental group ${\pi }_1\left(C\right)$ into G via the holonomy map [24].

Let $\{p_1,\dots ,p_n\}\subset C$ be a set of distinct points. A logarithmic connection on P with poles at $p_1,\dots ,p_n$, as presented by Deligne [25] and further investigated by Simpson [26] and Boalch [11], among others, is a connection ∇ in the sense of Definition 1 that can be written in local coordinates as

$$\nabla =d+A\left(z\right)dz,$$

(1)

where $A\left(z\right)$ has at most simple poles at $p_i$. The monodromy of a logarithmic connection is defined by the holonomy along loops encircling the singular points. If ${\gamma }_i$ is a loop around $p_i$, then the monodromy along ${\gamma }_i$ is an element $M_i\in G$.

Definition 2

([27]). An isomonodromic deformation of a logarithmic connection ∇ as in Equation (1) is a family of connections ${\nabla }_t$ depending on a parameter $t\in T$, where T is some deformation space, such that the associated monodromy representation is constant in t.

In Definition 2 and throughout the whole paper, $[A_i,A_j]$ denotes the Lie bracket (commutator) in the Lie algebra $\mathfrak{g}$. In particular, the Lie bracket $[·,·]:\mathfrak{g}\times \mathfrak{g}\to \mathfrak{g}$ is the bilinear, antisymmetric operation satisfying the Jacobi identity that defines the Lie algebra structure.

The condition that the monodromy representation of an isomonodromic deformation remains constant in t means that parallel transport along loops around the singularities defines a representation of ${\pi }_1(C\backslash D)$ into G which is independent of t.

Isomonodromic deformations of logarithmic connections with simple poles are governed by a system of nonlinear partial differential equations known as the Schlesinger equations. Suppose that the connection has simple poles at $p_1,\dots ,p_n$, and in a local trivialization is written as

$$\nabla =d-\sum _{i=1}^n{\displaystyle \frac{A_i}{z-p_i}}dz,$$

with $A_i\in \mathfrak{g}$ the residue at $p_i$. Then, the condition that the family of connections ${\nabla }_t$ obtained by varying the pole positions $p_i$ defines an isomonodromic deformation is equivalent to the fact that the residues $A_i=A_i(p_1,\dots ,p_n)$ satisfy the following system:

$$\begin{array}{cc}\hfill {\displaystyle \frac{\partial A_i}{\partial p_j}}& ={\displaystyle \frac{[A_i,A_j]}{p_i-p_j}},i\ne j,\hfill \end{array}$$

(2)

$$\begin{array}{cc}\hfill {\displaystyle \frac{\partial A_i}{\partial p_i}}& =-\sum _{j\ne i}{\displaystyle \frac{[A_i,A_j]}{p_i-p_j}}.\hfill \end{array}$$

(3)

The Schlesinger Equations (2) and (3) ensure that the monodromy data of the associated connection is preserved under deformation of the pole positions. For a detailed derivation and study of these equations in the context of monodromy-preserving deformations of Fuchsian systems, see [9].

A control system on a manifold M can be described by a family of vector fields parameterized by a control space U, of the form

$$\dot{x}=f(x,u),x\in M,u\in U.$$

For geometric control theory on curved surfaces, the language of fiber bundles is used. Specifically, let $\mathrm{proj}:E\to C$ be a fiber bundle over the Riemann surface C. A control system on E can be viewed as a partial connection along the fibers [15].

Definition 3

([15]). A system is controllable if for any two points $x_0,x_1\in M$, there exists a control function $u:[0,T]\to U$ such that the trajectory starting at $x_0$ reaches $x_1$ in finite time.

The controllability of a system on a manifold is related to the Lie algebra generated by the vector fields of the system, as stated in the Chow–Rashevskii theorem.

Theorem 1

(Chow–Rashevskii [14]). Let M be a connected smooth manifold and let $\mathcal{F}\subset \mathfrak{X}\left(M\right)$ be a finite set of smooth vector fields. If 

$${\mathrm{Lie}}_x\left(\mathcal{F}\right)=T_{x}M\mathrm{for}\mathrm{all}x\in M,$$

then the system generated by $\mathcal{F}$ is locally controllable; that is, any point in M can be reached from any nearby point by a trajectory of the system in arbitrarily small time.

This condition is often referred to as the Lie Algebra Rank Condition (LARC). Geometrically, it ensures that the distribution $\mathcal{D}\subset TM$ spanned by the control vector fields is bracket-generating, and hence the control system can generate motions in all directions by suitably combining flows of vector fields and their commutators.

In the context of geometric control theory on a Riemann surface C, if $\mathrm{proj}:E\to C$ is a smooth fiber bundle over C, a control system on E can be modeled by a smooth distribution $\mathcal{D}\subset TE$ that is horizontal with respect to some partial connection along the fibers. This framework allows the analysis of systems constrained to evolve within subbundles or under geometric constraints, and it provides a natural setting for studying controllability via the accessibility algebra generated by the control vector fields (for further details, see [14,15]).

3. Isomonodromic Connection-Control System Correspondence

This section presents the main theorem relating logarithmic connections on principal G-bundles to a characterization of control systems on punctured Riemann surfaces.

Lemma 1

(Monodromy–Curvature Correspondence). Let P be a principal G-bundle over C with a logarithmic connection ∇ having poles at $p_1,\dots ,p_n$ with residues $A_1,\dots ,A_n\in \mathfrak{g}$ satisfying ${\sum }_{i=1}^n{A}_i=0$. Then, there exists a smooth function $\Phi :C\backslash \{p_1,\dots ,p_n\}\to G/H$, where $H\subset G$ is a maximal compact subgroup, such that the curvature of the pulled-back connection ${\Phi }^{*}\nabla$ on ${\Phi }^{*}\left(P{|}_{C\backslash \{p_1,\dots ,p_n\}}\right)$ vanishes on $C\backslash \{p_1,\dots ,p_n\}$ and has distributional singularities at each pole $p_i$ of the form

$${\Omega }_{{\Phi }^{*}\nabla }=2\pi i\sum _{i=1}^n\mathrm{Ad}(\Phi )A_i{\delta }_{p_i}dx\wedge dy,$$

where ${\delta }_{p_i}$ is the Dirac delta distribution at $p_i$ and $(x,y)$ are local real coordinates on C.

Proof. 

Let $\gamma :[0,1]\to C^{*}$ denote a smooth loop based at $x_0\in C^{*}=C\backslash \{p_1,\dots ,p_n\}$. For a local coordinate chart $(U,z)$ on $C^{*}$, we write the connection locally as ${\omega |}_U=A\left(z\right)dz$ where $A:U\to \mathfrak{g}$ is a $\mathfrak{g}$-valued function. The curvature two-form of the connection ∇ is denoted by $\Omega =d\omega +{\displaystyle \frac{1}{2}}[\omega \wedge \omega ]$. The monodromy transformation associated with a loop $\gamma$ encircling a singular point $p_i$ is the element $M_i\in G$ obtained by parallel transport around $\gamma$. Finally, $(x,y)$ denotes local real coordinates on C near a point, with $z=x+iy$ being the corresponding complex coordinate, and ${\delta }_{p_i}$ is the Dirac delta distribution at $p_i$.

Let us establish the local form of the logarithmic connection ∇ around each pole $p_i$. As proved by Deligne [25], in a suitable local trivialization of P around $p_i$, the connection can be written as

$$\nabla =d+{\displaystyle \frac{A_i}{z-p_i}}dz+R_i\left(z\right)dz,$$

where z is a local holomorphic coordinate centered at $p_i$, $A_i\in \mathfrak{g}$ is the residue matrix, and $R_i\left(z\right)$ consists of holomorphic terms. This representation is well-defined up to gauge transformations that preserve the pole structure.

We construct the function $\Phi :C\backslash \{p_1,\dots ,p_n\}\to G/H$ as the solution to the differential equation

$$\partial \Phi \left(z\right)=\sum _{i=1}^n{\displaystyle \frac{A_i}{z-p_i}}\Phi \left(z\right).$$

To establish the existence of such a solution, we verify the integrability conditions. Let $\omega ={\sum }_{i=1}^n{\displaystyle \frac{A_i}{z-p_i}}dz$. The differential equation $\partial \Phi =\omega \Phi$ is integrable if and only if the $(2,0)$ component of the curvature $d\omega +\omega \wedge \omega$ vanishes [1]. Since $\omega$ is a $(1,0)$-form, we have $\omega \wedge \omega =0$. Therefore, we need only verify that the $(2,0)$ component of $d\omega$ vanishes.

For $z\ne p_i$, the function ${\displaystyle \frac{A_i}{z-p_i}}$ is holomorphic; hence $\partial \left({\displaystyle \frac{A_i}{z-p_i}}\right)=0$. Therefore, the $(2,0)$ component of $d\omega$ vanishes identically on $C\backslash \{p_1,\dots ,p_n\}$, establishing integrability.

The existence of a fundamental solution matrix ${\Phi }_0:C\backslash \{p_1,\dots ,p_n\}\to G$ with prescribed monodromy around each singular point follows from the Riemann–Hilbert correspondence [28]. Specifically, for a small loop ${\gamma }_i$ around $p_i$, the monodromy is given by $M_i=exp\left(2\pi i{A}_i\right)$.

The condition ${\sum }_{i=1}^n{A}_i=0$ ensures that the monodromy around a loop enclosing all singular points is trivial. This follows from the residue theorem on Riemann surfaces: the total monodromy around all singular points is $exp\left(2\pi i{\sum }_{i=1}^n{A}_i\right)=I$, which is required for the connection to extend over the entire surface in a distributional sense.

The fundamental solution ${\Phi }_0$ may have non-trivial monodromy around non-contractible loops of $C\backslash \{p_1,\dots ,p_n\}$. To obtain a well-defined map, we factor out the action of a maximal compact subgroup $H\subset G$. By the Iwasawa decomposition [29], every element of G can be uniquely written as $g=kh$, where $k\in G/H$ and $h\in H$. This allows us to define $\Phi :C\backslash \{p_1,\dots ,p_n\}\to G/H$ by projecting ${\Phi }_0$ onto the coset space $G/H$.

Next, we compute the curvature of the pulled-back connection ${\Phi }^{*}\nabla$. Under a gauge transformation $g:C\to G$, the connection transforms according to

$$g^{*}\nabla =d+g^{-1}dg+g^{-1}\omega g,$$

where $\omega$ is the original connection form.

Since $\Phi$ satisfies $\partial \Phi =\left({\sum }_{i=1}^n{\displaystyle \frac{A_i}{z-p_i}}\right)\Phi$, we have

$${\Phi }^{-1}\partial \Phi =\sum _{i=1}^n{\displaystyle \frac{A_i}{z-p_i}}.$$

Using the decomposition $d\Phi =\partial \Phi +\overline{\partial }\Phi$ in local holomorphic coordinates, the gauge-transformed connection becomes

$${\Phi }^{*}\nabla =d+{\Phi }^{-1}d\Phi +{\Phi }^{-1}\omega \Phi ,$$

where $\omega ={\sum }_{i=1}^n{\displaystyle \frac{A_i}{z-p_i}}dz+R\left(z\right)dz$ is the original connection form.

Substituting the expression for $\partial \Phi$ and simplifying, we obtain

$${\Phi }^{*}\nabla =d+{\Phi }^{-1}\overline{\partial }\Phi +{\Phi }^{-1}R\left(z\right)dz\Phi .$$

The curvature of this connection is computed using the formula $\Omega =d{\omega }^{\prime }+{\omega }^{\prime }\wedge {\omega }^{\prime }$, where ${\omega }^{\prime }={\Phi }^{-1}\overline{\partial }\Phi +{\Phi }^{-1}R\left(z\right)dz\Phi$. We analyze the singular behavior arising from the $\overline{\partial }\Phi$ term.

By the theory of distributions on complex manifolds [30], we have the identity

$$\overline{\partial }\left({\displaystyle \frac{1}{z-p_i}}\right)=\pi {\delta }_{p_i}d\overline{z},$$

where ${\delta }_{p_i}$ is the Dirac delta distribution at $p_i$. Therefore,

$$\overline{\partial }\left(\sum _{i=1}^n{\displaystyle \frac{A_i}{z-p_i}}\right)=\pi \sum _{i=1}^n{A}_i{\delta }_{p_i}d\overline{z}.$$

Using the compatibility condition $\overline{\partial }\partial \Phi =\partial \overline{\partial }\Phi$ and the Leibniz rule for distributions, we compute

$$\begin{array}{cc}\hfill {\Phi }^{-1}\overline{\partial }\partial \Phi & ={\Phi }^{-1}\partial \overline{\partial }\Phi =\partial ({\Phi }^{-1}\overline{\partial }\Phi )+{\Phi }^{-1}\partial \Phi ·{\Phi }^{-1}\overline{\partial }\Phi \hfill \\ \hfill & =\partial ({\Phi }^{-1}\overline{\partial }\Phi )+\left(\sum _{i=1}^n{\displaystyle \frac{A_i}{z-p_i}}\right)({\Phi }^{-1}\overline{\partial }\Phi ).\hfill \end{array}$$

On the other hand,

$${\Phi }^{-1}\overline{\partial }\partial \Phi ={\Phi }^{-1}\overline{\partial }\left(\sum _{i=1}^n{\displaystyle \frac{A_i}{z-p_i}}\Phi \right)=\pi \sum _{i=1}^n{\Phi }^{-1}{A}_i\Phi {\delta }_{p_i}d\overline{z}+\left(\sum _{i=1}^n{\displaystyle \frac{A_i}{z-p_i}}\right){\Phi }^{-1}\overline{\partial }\Phi .$$

Comparing these expressions yields

$$\partial ({\Phi }^{-1}\overline{\partial }\Phi )=\pi \sum _{i=1}^n{\Phi }^{-1}{A}_i\Phi {\delta }_{p_i}d\overline{z}.$$

The curvature form is given by

$$\begin{array}{cc}\hfill {\Omega }_{{\Phi }^{*}\nabla }& =d({\Phi }^{-1}\overline{\partial }\Phi )+d({\Phi }^{-1}R\left(z\right)dz\Phi )+{\omega }^{\prime }\wedge {\omega }^{\prime }.\hfill \end{array}$$

The term $d({\Phi }^{-1}\overline{\partial }\Phi )$ decomposes as

$$d({\Phi }^{-1}\overline{\partial }\Phi )=\partial ({\Phi }^{-1}\overline{\partial }\Phi )+\overline{\partial }({\Phi }^{-1}\overline{\partial }\Phi ).$$

The second component vanishes because ${\Phi }^{-1}\overline{\partial }\Phi$ is a $(0,1)$-form with values in $\mathfrak{g}$, and $\overline{\partial }$ of a $(0,1)$-form is zero. Therefore,

$$d({\Phi }^{-1}\overline{\partial }\Phi )=\partial ({\Phi }^{-1}\overline{\partial }\Phi )=\pi \sum _{i=1}^n{\Phi }^{-1}{A}_i\Phi {\delta }_{p_i}d\overline{z}.$$

For the terms involving $R\left(z\right)$, we note that $R\left(z\right)$ is holomorphic on $C\backslash \{p_1,\dots ,p_n\}$, and hence $\overline{\partial }R\left(z\right)=0$. The curvature contribution from $R\left(z\right)$ is

$$d({\Phi }^{-1}R\left(z\right)dz\Phi )=-{\Phi }^{-1}d\Phi \wedge {\Phi }^{-1}R\left(z\right)\Phi dz+{\Phi }^{-1}\partial R\left(z\right)\wedge dz\Phi +{\Phi }^{-1}R\left(z\right)dz\wedge d\Phi .$$

By the choice of gauge transformation, the holomorphic part $R\left(z\right)$ of the original connection is precisely chosen such that all regular (non-distributional) contributions to the curvature cancel. This is a standard result in the theory of logarithmic connections [31]: for a logarithmic connection with prescribed residues satisfying ${\sum }_{i=1}^n{A}_i=0$, there exists a gauge transformation such that the transformed connection has curvature supported only at the singular points.

The wedge product ${\omega }^{\prime }\wedge {\omega }^{\prime }$ contains terms of the form $({\Phi }^{-1}\overline{\partial }\Phi )\wedge ({\Phi }^{-1}R\left(z\right)dz\Phi )$ and $({\Phi }^{-1}R\left(z\right)dz\Phi )\wedge ({\Phi }^{-1}R\left(z\right)dz\Phi )$. The latter vanishes since it is the wedge product of two $(1,0)$-forms. The former contributes to the regular part of the curvature and is canceled by the terms from $d({\Phi }^{-1}R\left(z\right)dz\Phi )$ as discussed above.

Therefore, the only surviving contribution to the curvature comes from the following distributional terms:

$${\Omega }_{{\Phi }^{*}\nabla }=\pi \sum _{i=1}^n{\Phi }^{-1}{A}_i\Phi {\delta }_{p_i}d\overline{z}\wedge dz.$$

Using the standard orientation convention $d\overline{z}\wedge dz=-dz\wedge d\overline{z}=-2idx\wedge dy$ where $z=x+iy$, and noting that ${\Phi }^{-1}{A}_i\Phi =\mathrm{Ad}\left({\Phi }^{-1}\right)A_i$, we obtain

$${\Omega }_{{\Phi }^{*}\nabla }=-\pi (-2i)\sum _{i=1}^n\mathrm{Ad}\left({\Phi }^{-1}\right)A_i{\delta }_{p_i}dx\wedge dy=2\pi i\sum _{i=1}^n\mathrm{Ad}\left({\Phi }^{-1}\right)A_i{\delta }_{p_i}dx\wedge dy.$$

Since $\mathrm{Ad}\left({\Phi }^{-1}\right)=\mathrm{Ad}{(\Phi )}^{-1}$ and the residues transform contravariantly under the adjoint action, the final result is

$${\Omega }_{{\Phi }^{*}\nabla }=2\pi i\sum _{i=1}^n\mathrm{Ad}(\Phi )A_i{\delta }_{p_i}dx\wedge dy,$$

which completes the proof.    □

Theorem 2

(Main Result). Let G be a complex semi-simple Lie group and P a principal G-bundle over a compact Riemann surface C of genus $g\ge 2$. Let ${\nabla }_t$ be an isomonodromic family of logarithmic connections on P with poles at points $p_1\left(t\right),\dots ,p_n\left(t\right)\in C$. Then, there exists a G-equivariant control system on the restriction ${P|}_{C\backslash \{p_1,\dots ,p_n\}}$ satisfying the following properties:

1 .

The system is controllable in the sense of Definition 3 if and only if the residues $A_1,\dots ,A_n$ generate $\mathfrak{g}$ under the Lie bracket.

2 .

On $C\backslash \{p_1,\dots ,p_n\}$, the trajectories of the control system project to geodesics with respect to a metric determined by the monodromy data of ${\nabla }_t$.

3 .

There exists a quadratic cost functional such that optimal control functions minimizing this functional correspond to horizontal curves with respect to the connection ${\nabla }_t$.

Proof. 

Let ${\nabla }_t$ be an isomonodromic family of connections with poles at the points $p_1\left(t\right),\dots ,p_n\left(t\right)$ with residues $A_1\left(t\right),\dots ,A_n\left(t\right)\in \mathfrak{g}$. Using Lemma 1, we can construct maps ${\Phi }_t:C\backslash \{p_1\left(t\right),\dots ,p_n\left(t\right)\}\to G/H$ for a maximal compact subgroup $H\subset G$.

We define a control system on ${P|}_{C\backslash \{p_1,\dots ,p_n\}}$ as follows: Let $(x,g)\in (C\backslash \{p_1,\dots ,p_n\})\times G$ be local coordinates on an open subset of ${P|}_{C\backslash \{p_1,\dots ,p_n\}}$, where x represents a point on $C\backslash \{p_1,\dots ,p_n\}$ and g represents a point in the fiber over x. The control system is given by

$$\begin{array}{cc}\hfill \dot{x}& =u_0\left(t\right)\in T_x(C\backslash \{p_1,\dots ,p_n\}),\hfill \end{array}$$

(4)

$$\begin{array}{cc}\hfill \dot{g}& =g\left(\sum _{i=1}^n{u}_i\left(t\right)A_i\left(t\right)\right).\hfill \end{array}$$

(5)

The control system defined in (4) and (5) describes the evolution on the principal bundle, where $u_0\left(t\right)\in T_x(C\backslash \{p_1,\dots ,p_n\})$ is a tangent vector field on $C\backslash \{p_1,\dots ,p_n\}$ representing the base control, and $u_i\left(t\right)\in \mathbb{R}$ for $i=1,\dots ,n$ are scalar controls affecting the fiber direction.

Property 1.

We establish controllability using the Chow–Rashevskii theorem (Theorem 1), which states that a control system is controllable if and only if the vector fields corresponding to the controls, together with all their iterated Lie brackets, span the tangent space at every point. Note that if the residues $\{A_1,\dots ,A_n\}$ generate $\mathfrak{g}$ under the Lie bracket, then by iterating the bracket operation, we can generate vector fields pointing in arbitrary directions in the fiber G. When combined with arbitrary motions in the base $C\backslash \{p_1,\dots ,p_n\}$ (controlled by $u_0$), this allows us to connect any two points in the same connected component of ${P|}_{C\backslash \{p_1,\dots ,p_n\}}$.

The control $u_0$ generates vector fields in the horizontal directions on ${P|}_{C\backslash \{p_1,\dots ,p_n\}}$, spanning $T_x(C\backslash \{p_1,\dots ,p_n\})$ at each point. For the controls $u_1,\dots ,u_n$, the corresponding vector fields are

$$X_i(x,g)=g{A}_i\in T_{g}G,$$

where we identify $T_{g}G$ with $\mathfrak{g}$ via right multiplication by g.

Since P is a principal G-bundle, the tangent space at any point

$${(x,g)\in P|}_{C\backslash \{p_1,\dots ,p_n\}}$$

decomposes as

$$T_{(x,g)}\left(P{|}_{C\backslash \{p_1,\dots ,p_n\}}\right)\cong T_x(C\backslash \{p_1,\dots ,p_n\})\oplus T_{g}G.$$

The control $u_0$ allows arbitrary movement in $T_x(C\backslash \{p_1,\dots ,p_n\})$. For the fiber direction, we need the vector fields $\{X_1,\dots ,X_n\}$ and their Lie brackets to span $T_{g}G\cong \mathfrak{g}$.

Computing the Lie bracket of two vector fields $X_i$ and $X_j$ yields

$$[X_i,X_j](x,g)=[g{A}_i,g{A}_j]=g[A_i,A_j],$$

where the second equality follows from the fact that right multiplication by g is a Lie algebra homomorphism from $\mathfrak{g}$ to the Lie algebra of right-invariant vector fields on G [32].

The Lie algebra generated by $\{X_1,\dots ,X_n\}$ under the Lie bracket is isomorphic to the Lie algebra generated by $\{A_1,\dots ,A_n\}$ under the Lie bracket in $\mathfrak{g}$, with the isomorphism given by right multiplication by g. Since g acts as an isomorphism, the vector fields $\{X_1,\dots ,X_n\}$ and their Lie brackets span $T_{g}G$ if and only if $\{A_1,\dots ,A_n\}$ and their Lie brackets span $\mathfrak{g}$.

Therefore, the system is controllable if and only if the residues $\{A_1,\dots ,A_n\}$ generate $\mathfrak{g}$ under the Lie bracket, establishing Property 1.

Property 2.

Using the map ${\Phi }_t$ from Lemma 1, we define a Riemannian metric on $C\backslash \{p_1\left(t\right),\dots ,p_n\left(t\right)\}$ by

$$d{s}^2=\mathrm{tr}({\Phi }_t^{-1}d{\Phi }_t·{\Phi }_t^{-1}d{\Phi }_t).$$

(6)

To verify that $d{s}^2$ in (6) is well-defined and possesses the properties of a Riemannian metric, we establish the following: First, the bilinearity of $d{s}^2$ follows directly from the bilinearity of the trace and the matrix product. Second, symmetry holds because $\mathrm{tr}\left(AB\right)=\mathrm{tr}\left(BA\right)$ for any matrices A and B. Third, positive-definiteness is verified by noting that for any non-zero tangent vector $v\in T_x(C\backslash \{p_1,\dots ,p_n\})$, we have

$$d{s}^2(v,v)=\mathrm{tr}\left({\left({\Phi }_t^{-1}{\displaystyle \frac{\partial {\Phi }_t}{\partial v}}\right)}^2\right)=\sum _{\alpha }{\left|{\lambda }_{\alpha }\right|}^2>0,$$

where ${\lambda }_{\alpha }$ are the eigenvalues of ${\Phi }_t^{-1}{\displaystyle \frac{\partial {\Phi }_t}{\partial v}}$, which are non-zero because the controllability assumption (Property 1) ensures that the residues span $\mathfrak{g}$. Thus, $d{s}^2$ defines a genuine Riemannian metric on $C\backslash \{p_1,\dots ,p_n\}$.

By Lemma 1, the pulled-back connection ${\Phi }_t^{*}\nabla$ has vanishing curvature on $C\backslash \{p_1,\dots ,p_n\}$, with distributional singularities concentrated at the poles. This means that away from the poles, the connection is flat in the classical sense.

The Riemannian metric (6) is well-defined on $C\backslash \{p_1,\dots ,p_n\}$. In local coordinates $(x^1,x^2)$ on $\Sigma \backslash \{p_1,\dots ,p_n\}$, the connection 1-form is $\omega ={\omega }_{\alpha }d{x}^{\alpha }$, where ${\omega }_{\alpha }={\Phi }_t^{-1}{\displaystyle \frac{\partial {\Phi }_t}{\partial x^{\alpha }}}$. The metric components are $g_{\alpha \beta }=\mathrm{tr}\left({\omega }_{\alpha }{\omega }_{\beta }\right)$.

For a curve $x\left(t\right)$ in $C\backslash \{p_1,\dots ,p_n\}$, we construct the horizontal lift to P using the connection ${\nabla }_t$. A curve $\left(x\right(t),g(t\left)\right)$ in P is horizontal with respect to ${\nabla }_t$ if and only if

$$\dot{g}\left(t\right)=g\left(t\right)\sum _{\alpha =1}^2{\dot{x}}^{\alpha }\left(t\right){\omega }_{\alpha }\left(x\left(t\right)\right),$$

where we sum over the coordinate indices $\alpha =1,2$ on Σ [1].

Since the connection ${\Phi }_t^{*}\nabla$ is flat on $C\backslash \{p_1,\dots ,p_n\}$, the flatness condition is

$${\displaystyle \frac{\partial {\omega }_{\alpha }}{\partial x^{\beta }}}-{\displaystyle \frac{\partial {\omega }_{\beta }}{\partial x^{\alpha }}}+[{\omega }_{\alpha },{\omega }_{\beta }]=0.$$

Computing the derivatives of the metric components yields

$${\displaystyle \frac{\partial g_{\alpha \beta }}{\partial x^{\gamma }}}=\mathrm{tr}\left({\displaystyle \frac{\partial {\omega }_{\alpha }}{\partial x^{\gamma }}}{\omega }_{\beta }\right)+\mathrm{tr}\left({\omega }_{\alpha }{\displaystyle \frac{\partial {\omega }_{\beta }}{\partial x^{\gamma }}}\right).$$

Using the flatness condition to eliminate ${\displaystyle \frac{\partial {\omega }_i}{\partial x^k}}$, we obtain

$${\displaystyle \frac{\partial {\omega }_{\alpha }}{\partial x^{\gamma }}}={\displaystyle \frac{\partial {\omega }_{\gamma }}{\partial x^{\alpha }}}-[{\omega }_{\alpha },{\omega }_{\gamma }].$$

Substituting and using the cyclic property of the trace yields

$$\begin{array}{cc}\hfill {\displaystyle \frac{\partial g_{\alpha \beta }}{\partial x^{\gamma }}}& =\mathrm{tr}\left(\left({\displaystyle \frac{\partial {\omega }_{\gamma }}{\partial x^{\alpha }}}-[{\omega }_{\alpha },{\omega }_{\gamma }]\right){\omega }_{\beta }\right)+\mathrm{tr}\left({\omega }_{\alpha }\left({\displaystyle \frac{\partial {\omega }_{\gamma }}{\partial x^{\beta }}}-[{\omega }_{\beta },{\omega }_{\gamma }]\right)\right)\hfill \\ \hfill & =\mathrm{tr}\left({\displaystyle \frac{\partial {\omega }_{\gamma }}{\partial x^{\alpha }}}{\omega }_{\beta }\right)+\mathrm{tr}\left({\omega }_{\alpha }{\displaystyle \frac{\partial {\omega }_{\gamma }}{\partial x^{\beta }}}\right)-\mathrm{tr}\left([{\omega }_{\alpha },{\omega }_{\gamma }]{\omega }_{\beta }\right)-\mathrm{tr}\left({\omega }_{\alpha }[{\omega }_{\beta },{\omega }_{\gamma }]\right).\hfill \end{array}$$

Using the identity $\mathrm{tr}\left(\right[A,B\left]C\right)=\mathrm{tr}\left(A\right[B,C\left]\right)$ and the antisymmetry of the Lie bracket, we obtain

$$\mathrm{tr}\left([{\omega }_{\alpha },{\omega }_{\gamma }]{\omega }_{\beta }\right)+\mathrm{tr}\left({\omega }_{\alpha }[{\omega }_{\beta },{\omega }_{\gamma }]\right)=\mathrm{tr}\left({\omega }_{\gamma }[{\omega }_{\beta },{\omega }_{\alpha }]\right).$$

The Christoffel symbols of the metric $g_{ij}$ are given by the following [33]:

$${\Gamma }_{\alpha \beta }^{\gamma }={\displaystyle \frac{1}{2}}{g}^{\gamma \delta }\left({\displaystyle \frac{\partial g_{\alpha \delta }}{\partial x^{\beta }}}+{\displaystyle \frac{\partial g_{\beta \delta }}{\partial x^{\alpha }}}-{\displaystyle \frac{\partial g_{\alpha \beta }}{\partial x^{\delta }}}\right).$$

Note that these Christoffel symbols, when used in the covariant derivative ${\nabla }_{\dot{x}}\dot{x}={\ddot{x}}^k+{\Gamma }_{ij}^k{\dot{x}}^i{\dot{x}}^j$, yield equations satisfied by horizontal curves. This relies on the flatness condition $d\omega +\omega \wedge \omega =0$ established in Lemma 1, which implies that the metric $g_{ij}$ has a special structure that ensures the correspondence between horizontal transport and parallel transport. From this, the smoothness in the construction of the metric follows. Indeed, the map $(x,v)\mapsto \mathrm{tr}\left({\omega }_i\left(x\right){\omega }_j\left(x\right)\right)v^i{v}^j$ is smooth because the connection 1-form ${\omega }_i={\Phi }_t^{-1}{\displaystyle \frac{\partial {\Phi }_t}{\partial x^i}}$ depends smoothly on x away from the singular points by ODE theory, and the trace is a continuous operation on matrices.

For horizontal curves $\left(x\right(t),g(t\left)\right)$ in the bundle ${P|}_{C\backslash \{p_1,\dots ,p_n\}}$, the parallel transport condition requires that the covariant derivative of the tangent vector $\dot{x}\left(t\right)$ with respect to the induced connection on the base manifold vanishes. This covariant derivative is precisely ${\nabla }_{\dot{x}}\dot{x}={\ddot{x}}^{\gamma }+{\Gamma }_{\alpha \beta }^{\gamma }{\dot{x}}^{\alpha }{\dot{x}}^{\beta }$ [34].

Therefore, horizontal curves project to geodesics on $\Sigma \backslash \{p_1,\dots ,p_n\}$ with respect to the metric $g_{\alpha \beta }$ defined by the monodromy data. This establishes Property 2.

Property 3.

Consider the quadratic cost functional

$$J\left[u\right]={\int }_0^T\left(|u_0{\left(t\right)|}^2+\sum _{i=1}^n{\left|u_i\left(t\right)\right|}^2\right)dt,$$

(7)

where $|u_0{\left(t\right)|}^2=g_{ij}{u}_0^i\left(t\right)u_0^j\left(t\right)$ is the squared norm with respect to the metric defined in Property 2. This cost functional measures the total energy expended by the control inputs. By construction of the metric (6), minimizing $J\left[u\right]$ is equivalent to minimizing the energy functional $E\left[\gamma \right]={\int }_0^{T}d{s}^2(\dot{\gamma },\dot{\gamma })dt$ along the base trajectory $\gamma =\pi \circ \left(x\right(·),g(·\left)\right)$.

To minimize the quadratic cost functional (7), we apply Pontryagin’s maximum principle [35]. Let $p_x\in T_x^{*}(C\backslash \{p_1,\dots ,p_n\})$ and $p_g\in T_g^{*}G$ be the costate variables corresponding to the state variables x and g, respectively. The Hamiltonian is

$$H(x,g,p_x,p_g,u)=⟨p_x,u_0⟩+\mathrm{tr}\left(p_{g}g\left(\sum _{i=1}^n{u}_i{A}_i\right)\right)-{\displaystyle \frac{1}{2}}\left(|u_0{|}^2+\sum _{i=1}^n{\left|u_i\right|}^2\right),$$

where $⟨·,·⟩$ denotes the natural pairing between cotangent and tangent spaces.

The Hamiltonian function associated with the optimal control problem is defined as

$$H(x,g,p_x,p_g,u)=⟨p_x,u_0⟩+\mathrm{tr}\left(p_{g}g\left(\sum _{i=1}^n{u}_i{A}_i\right)\right)-{\displaystyle \frac{1}{2}}\left(|u_0{|}^2+\sum _{i=1}^n{\left|u_i\right|}^2\right),$$

(8)

where $(x,g)\in P$ represents the state, $(p_x,p_g)\in T^{*}P$ is the costate variable (Lagrange multiplier), and $u=(u_0,u_1,\dots ,u_n)$ is the control input. The optimality conditions from Pontryagin’s maximum principle require the following:

1 .

The state equations $\dot{x}={\displaystyle \frac{\partial H}{\partial p_x}}$ and $\dot{g}={\displaystyle \frac{\partial H}{\partial p_g}}$;

2 .

The costate equations ${\dot{p}}_x=-{\displaystyle \frac{\partial H}{\partial x}}$ and ${\dot{p}}_g=-{\displaystyle \frac{\partial H}{\partial g}}$;

3 .

The maximization condition $H(x,g,p_x,p_g,u\left(t\right))={max}_{v}H(x,g,p_x,p_g,v)$ for all t;

4 .

The transversality conditions at the boundary: if the terminal state is free, then $p_x\left(T\right)=0$ and $p_g\left(T\right)=0$; if the terminal state is fixed at $(x_1,g_1)$, then the costates $(p_x\left(T\right),p_g\left(T\right))$ are determined by the boundary constraint and satisfy $⟨p_x\left(T\right),\delta x\left(T\right)⟩+\mathrm{tr}\left(p_g\left(T\right)\delta g\left(T\right)\right)=0$ for all admissible variations $\left(\delta x\right(T),\delta g(T\left)\right)$.

The optimality conditions require that the Hamiltonian be maximized with respect to the control variables. Taking partial derivatives yields

$$\begin{array}{cc}\hfill & {\displaystyle \frac{\partial H}{\partial u_0^j}}=p_x^j-g_{jk}{u}_0^k=0,\hfill \end{array}$$

(9)

$$\begin{array}{cc}\hfill & {\displaystyle \frac{\partial H}{\partial u_i}}=\mathrm{tr}\left(p_{g}g{A}_i\right)-u_i=0.\hfill \end{array}$$

(10)

From Equation (9), we obtain

$$u_0^j=g^{jk}{p}_x^k,$$

where $g^{jk}$ is the inverse metric tensor.

From Equation (10), we obtain

$$u_i=\mathrm{tr}\left(p_{g}g{A}_i\right)\mathit{for}i=1,\dots ,n.$$

The costate evolution equations are given by

$$\begin{array}{cc}\hfill & {\dot{p}}_x^j=-{\displaystyle \frac{\partial H}{\partial x^j}},\hfill \\ \hfill & {\dot{p}}_g=-{\displaystyle \frac{\partial H}{\partial g}}.\hfill \end{array}$$

A trajectory $\left(x\right(t),g(t\left)\right)$ satisfies the optimality conditions if and only if it is a horizontal curve with respect to the connection ${\nabla }_t$. To see this, we note that for horizontal curves, the fiber component satisfies

$$\dot{g}\left(t\right)=g\left(t\right)\sum _{i=1}^2{\dot{x}}^i\left(t\right){\omega }_i\left(x\left(t\right)\right),$$

where ${\omega }_i={\Phi }_t^{-1}{\displaystyle \frac{\partial {\Phi }_t}{\partial x^i}}$.

The optimal controls are determined by the costate variables, and by the structure of the Hamiltonian, optimal trajectories minimize the energy functional while satisfying the constraint that they remain horizontal with respect to the connection. This is a standard result in geometric control theory: for systems on principal bundles with connections, optimal trajectories with respect to quadratic cost functionals are horizontal curves [20].

Therefore, optimal control functions minimizing the quadratic cost functional correspond precisely to horizontal curves with respect to the connection ${\nabla }_t$. This equivalence follows from the variational structure. Indeed, note that the Euler–Lagrange equations for the energy functional $E\left[\gamma \right]$ coincide with the geodesic equations for the metric $d{s}^2$, while Pontryagin’s maximum principle with Hamiltonian (8) yields optimality conditions whose solutions are precisely these horizontal geodesics. This correspondence between optimal trajectories and horizontal curves follows from the general principle in geometric control theory that optimal control on principal bundles respects the connection structure [20]. This establishes Property 3 and completes the proof.

□

Remark 1.

Property 3 of Theorem 2 establishes that optimal trajectories are horizontal curves with respect to the connection ${\nabla }_t$. Combined with Property 2, this implies that optimal trajectories project to geodesics on $C\backslash \{p_1,\dots ,p_n\}$ with respect to the metric determined by the monodromy data. The connection between horizontal curves and isomonodromic deformations is mediated by the map ${\Phi }_t$ constructed in Lemma 1: trajectories following the evolution determined by ${\Phi }_t$ correspond to isomonodromic deformations of the connection family ${\nabla }_t$.

Throughout the analysis of isomonodromic deformations, we assume that the singular points $p_1,\dots ,p_n\in C$ are pairwise distinct, i.e., $p_i\ne p_j$ for all $i\ne j$. This assumption is essential for the well-definedness of expressions such as ${\displaystyle \frac{1}{p_i-p_j}}$ appearing in the Schlesinger Equations (2) and (3). The distinctness of the singular points is maintained under small deformations by the implicit function theorem, ensuring that the configuration space of distinct n-tuples of points on C forms a smooth manifold of dimension $2n$.

The next proposition describes the intrinsic differential structure satisfied by isomonodromic families of connections, linking the motion of poles with the evolution of the corresponding gauge transformations.

Proposition 1

(Isomonodromic Deformation Structure). Let ${\nabla }_t$ be an isomonodromic family of connections on a principal G-bundle P over C with poles at $p_1\left(t\right),\dots ,p_n\left(t\right)$. Then, the family of maps ${\Phi }_t$ constructed as in Lemma 1 satisfies the nonlinear PDE

$${\displaystyle \frac{\partial {\Phi }_t}{\partial t}}=\sum _{i=1}^n{\displaystyle \frac{{\dot{p}}_i\left(t\right)A_i\left(t\right)}{z-p_i\left(t\right)}}{\Phi }_t-{\Phi }_t{H}_t,$$

where $H_t\in \mathfrak{h}$ is determined by the condition that ${\Phi }_t$ takes values in $G/H$, and ${\dot{p}}_i\left(t\right)={\displaystyle \frac{d{p}_i\left(t\right)}{dt}}$.

Proof. 

By construction in Lemma 1, the map ${\Phi }_t$ satisfies the first-order differential equation

$$\partial {\Phi }_t={\displaystyle \frac{\partial {\Phi }_t}{\partial z}}=\sum _{i=1}^n{\displaystyle \frac{A_i\left(t\right)}{z-p_i\left(t\right)}}{\Phi }_t,$$

where z is a local holomorphic coordinate on C. For an isomonodromic deformation, both the spatial coordinate z and the deformation parameter t vary, and we must verify the compatibility condition

$${\displaystyle \frac{\partial }{\partial t}}\left({\displaystyle \frac{\partial {\Phi }_t}{\partial z}}\right)={\displaystyle \frac{\partial }{\partial z}}\left({\displaystyle \frac{\partial {\Phi }_t}{\partial t}}\right).$$

The left-hand side is computed by differentiating the equation

$$\partial {\Phi }_t=\sum _{i=1}^n{\displaystyle \frac{A_i\left(t\right)}{z-p_i\left(t\right)}}{\Phi }_t$$

with respect to t. Applying the product rule and chain rule, we obtain

$$\begin{array}{cc}\hfill {\displaystyle \frac{\partial }{\partial t}}\left(\sum _{i=1}^n{\displaystyle \frac{A_i\left(t\right)}{z-p_i\left(t\right)}}{\Phi }_t\right)& =\sum _{i=1}^n{\displaystyle \frac{\partial }{\partial t}}\left({\displaystyle \frac{A_i\left(t\right)}{z-p_i\left(t\right)}}\right){\Phi }_t+\sum _{i=1}^n{\displaystyle \frac{A_i\left(t\right)}{z-p_i\left(t\right)}}{\displaystyle \frac{\partial {\Phi }_t}{\partial t}}.\hfill \end{array}$$

For the derivative of the coefficient,

$${\displaystyle \frac{\partial }{\partial t}}\left({\displaystyle \frac{A_i\left(t\right)}{z-p_i\left(t\right)}}\right)={\displaystyle \frac{{\dot{A}}_i\left(t\right)(z-p_i\left(t\right))+A_i\left(t\right){\dot{p}}_i\left(t\right)}{{(z-p_i\left(t\right))}^2}}={\displaystyle \frac{{\dot{A}}_i\left(t\right)}{z-p_i\left(t\right)}}+{\displaystyle \frac{A_i\left(t\right){\dot{p}}_i\left(t\right)}{{(z-p_i\left(t\right))}^2}},$$

where ${\dot{A}}_i\left(t\right)={\displaystyle \frac{\partial A_i\left(t\right)}{\partial t}}$ and ${\dot{p}}_i\left(t\right)={\displaystyle \frac{d{p}_i\left(t\right)}{dt}}$.

By the Schlesinger equations, the residues of an isomonodromic deformation satisfy

$${\dot{A}}_i\left(t\right)=\sum _{j\ne i}{\displaystyle \frac{[A_i\left(t\right),A_j\left(t\right)]}{p_i\left(t\right)-p_j\left(t\right)}}{\dot{p}}_j\left(t\right).$$

Substituting this into the sum, we obtain

$$\begin{array}{cc}\hfill \sum _{i=1}^n{\displaystyle \frac{{\dot{A}}_i\left(t\right)}{z-p_i\left(t\right)}}& =\sum _{i=1}^n\sum _{j\ne i}{\displaystyle \frac{[A_i\left(t\right),A_j\left(t\right)]{\dot{p}}_j\left(t\right)}{(p_i\left(t\right)-p_j\left(t\right))(z-p_i\left(t\right))}}.\hfill \end{array}$$

We apply the partial fraction decomposition. For distinct points $p_i\left(t\right),p_j\left(t\right),z$,

$${\displaystyle \frac{1}{(p_i-p_j)(z-p_i)}}={\displaystyle \frac{1}{(z-p_i)(z-p_j)}}+{\displaystyle \frac{1}{(p_i-p_j)(z-p_j)}}.$$

This identity is verified by combining the right-hand side over a common denominator:

$$\begin{array}{cc}\hfill {\displaystyle \frac{1}{(z-p_i)(z-p_j)}}+{\displaystyle \frac{1}{(p_i-p_j)(z-p_j)}}& ={\displaystyle \frac{(p_i-p_j)+(z-p_i)}{(p_i-p_j)(z-p_i)(z-p_j)}}\hfill \\ & ={\displaystyle \frac{z-p_j}{(p_i-p_j)(z-p_i)(z-p_j)}}\hfill \\ & ={\displaystyle \frac{1}{(p_i-p_j)(z-p_i)}}.\hfill \end{array}$$

Applying this decomposition, we obtain

$$\begin{array}{cc}\hfill \sum _{i=1}^n\sum _{j\ne i}{\displaystyle \frac{[A_i,A_j]{\dot{p}}_j}{(p_i-p_j)(z-p_i)}}& =\sum _{i=1}^n\sum _{j\ne i}{\displaystyle \frac{[A_i,A_j]{\dot{p}}_j}{(z-p_i)(z-p_j)}}\hfill \\ & +\sum _{i=1}^n\sum _{j\ne i}{\displaystyle \frac{[A_i,A_j]{\dot{p}}_j}{(p_i-p_j)(z-p_j)}}.\hfill \end{array}$$

For the first double sum, we use antisymmetry of the Lie bracket. Since $[A_i,A_j]=-[A_j,A_i]$ and the denominator $(z-p_i)(z-p_j)$ is symmetric in i and j,

$$\begin{array}{cc}\hfill \sum _{i=1}^n\sum _{j\ne i}{\displaystyle \frac{[A_i,A_j]{\dot{p}}_j}{(z-p_i)(z-p_j)}}& ={\displaystyle \frac{1}{2}}\sum _{i=1}^n\sum _{j\ne i}\left({\displaystyle \frac{[A_i,A_j]{\dot{p}}_j}{(z-p_i)(z-p_j)}}+{\displaystyle \frac{[A_j,A_i]{\dot{p}}_i}{(z-p_j)(z-p_i)}}\right)\hfill \\ \hfill & ={\displaystyle \frac{1}{2}}\sum _{i=1}^n\sum _{j\ne i}{\displaystyle \frac{[A_i,A_j]({\dot{p}}_j-{\dot{p}}_i)}{(z-p_i)(z-p_j)}}=0.\hfill \end{array}$$

The second double sum is rewritten by interchanging indices $i\leftrightarrow j$:

$$\begin{array}{cc}\hfill \sum _{i=1}^n\sum _{j\ne i}{\displaystyle \frac{[A_i,A_j]{\dot{p}}_j}{(p_i-p_j)(z-p_j)}}& =\sum _{j=1}^n\sum _{i\ne j}{\displaystyle \frac{[A_j,A_i]{\dot{p}}_i}{(p_j-p_i)(z-p_i)}}\hfill \\ & =-\sum _{i=1}^n\sum _{j\ne i}{\displaystyle \frac{[A_i,A_j]{\dot{p}}_i}{(p_i-p_j)(z-p_i)}}.\hfill \end{array}$$

Therefore,

$$\sum _{i=1}^n{\displaystyle \frac{{\dot{A}}_i\left(t\right)}{z-p_i\left(t\right)}}=-\sum _{i=1}^n\sum _{j\ne i}{\displaystyle \frac{[A_i,A_j]{\dot{p}}_i}{(p_i-p_j)(z-p_i)}}.$$

(11)

We now establish the key identity relating the right-hand side of (11) to a total derivative. This identity is classical in the theory of isomonodromic deformations and states that

$$\sum _{i=1}^n\sum _{j\ne i}{\displaystyle \frac{[A_i,A_j]{\dot{p}}_i}{(p_i-p_j)(z-p_i)}}=-\sum _{i=1}^n{\displaystyle \frac{A_i{\dot{p}}_i}{{(z-p_i)}^2}}+{\displaystyle \frac{d}{dz}}\left(\sum _{i=1}^n{\displaystyle \frac{A_i{\dot{p}}_i}{z-p_i}}\right).$$

(12)

This identity expresses the compatibility of the Schlesinger equations with the residue structure and is proven in detail by Jimbo and Miwa [36] (Section 2).

From the identity (12), we combine equations to obtain the following:

$$\sum _{i=1}^n{\displaystyle \frac{{\dot{A}}_i\left(t\right)}{z-p_i\left(t\right)}}+\sum _{i=1}^n{\displaystyle \frac{A_i\left(t\right){\dot{p}}_i\left(t\right)}{{(z-p_i\left(t\right))}^2}}={\displaystyle \frac{\partial }{\partial z}}\left(\sum _{i=1}^n{\displaystyle \frac{A_i\left(t\right){\dot{p}}_i\left(t\right)}{z-p_i\left(t\right)}}\right).$$

Therefore, the compatibility condition becomes

$${\displaystyle \frac{\partial }{\partial z}}\left({\displaystyle \frac{\partial {\Phi }_t}{\partial t}}\right)={\displaystyle \frac{\partial }{\partial z}}\left(\sum _{i=1}^n{\displaystyle \frac{{\dot{p}}_i\left(t\right)A_i\left(t\right)}{z-p_i\left(t\right)}}\right){\Phi }_t+\sum _{i=1}^n{\displaystyle \frac{A_i\left(t\right)}{z-p_i\left(t\right)}}{\displaystyle \frac{\partial {\Phi }_t}{\partial t}}.$$

Expanding the first term using the product rule yields

$${\displaystyle \frac{\partial }{\partial z}}\left(\sum _{i=1}^n{\displaystyle \frac{{\dot{p}}_i\left(t\right)A_i\left(t\right)}{z-p_i\left(t\right)}}{\Phi }_t\right)={\displaystyle \frac{\partial }{\partial z}}\left(\sum _{i=1}^n{\displaystyle \frac{{\dot{p}}_i\left(t\right)A_i\left(t\right)}{z-p_i\left(t\right)}}\right){\Phi }_t+\sum _{i=1}^n{\displaystyle \frac{{\dot{p}}_i\left(t\right)A_i\left(t\right)}{z-p_i\left(t\right)}}{\displaystyle \frac{\partial {\Phi }_t}{\partial z}}.$$

Using the original equation ${\displaystyle \frac{\partial {\Phi }_t}{\partial z}}={\sum }_{j=1}^n{\displaystyle \frac{A_j\left(t\right)}{z-p_j\left(t\right)}}{\Phi }_t$, we obtain

$${\displaystyle \frac{\partial }{\partial z}}\left({\displaystyle \frac{\partial {\Phi }_t}{\partial t}}-\sum _{i=1}^n{\displaystyle \frac{{\dot{p}}_i\left(t\right)A_i\left(t\right)}{z-p_i\left(t\right)}}{\Phi }_t\right)=\sum _{i=1}^n{\displaystyle \frac{A_i\left(t\right)}{z-p_i\left(t\right)}}\left({\displaystyle \frac{\partial {\Phi }_t}{\partial t}}-\sum _{j=1}^n{\displaystyle \frac{{\dot{p}}_j\left(t\right)A_j\left(t\right)}{z-p_j\left(t\right)}}{\Phi }_t\right).$$

This shows that the quantity ${\displaystyle \frac{\partial {\Phi }_t}{\partial t}}-{\sum }_{i=1}^n{\displaystyle \frac{{\dot{p}}_i\left(t\right)A_i\left(t\right)}{z-p_i\left(t\right)}}{\Phi }_t$ satisfies the same first-order differential equation in z as ${\Phi }_t$ itself. By the uniqueness theorem for first-order linear ODEs [37], the general solution has the form

$${\displaystyle \frac{\partial {\Phi }_t}{\partial t}}-\sum _{i=1}^n{\displaystyle \frac{{\dot{p}}_i\left(t\right)A_i\left(t\right)}{z-p_i\left(t\right)}}{\Phi }_t={\Phi }_t{C}_t,$$

where $C_t\in \mathfrak{g}$ is independent of z but may depend on t.

The constraint that ${\Phi }_t$ takes values in the coset space $G/H$ determines $C_t$. This constraint requires that the evolution of ${\Phi }_t$ be compatible with the quotient structure. By the theory of homogeneous spaces [29], this is equivalent to requiring that $C_t$ lies in the Lie algebra $\mathfrak{h}$ of H.

Setting $H_t=-C_t\in \mathfrak{h}$, we obtain the following:

$${\displaystyle \frac{\partial {\Phi }_t}{\partial t}}=\sum _{i=1}^n{\displaystyle \frac{{\dot{p}}_i\left(t\right)A_i\left(t\right)}{z-p_i\left(t\right)}}{\Phi }_t-{\Phi }_t{H}_t.$$

This completes the proof.    □

The following result establishes a framework for analyzing non-holonomic systems using logarithmic connections. While Theorem 2 characterizes unconstrained control systems on principal bundles, the present result develops a related framework for constrained systems.

Proposition 2

(Isomonodromic Representation of Non-holonomic Systems). Let C be a compact Riemann surface of genus $g\ge 2$, and G be a complex semi-simple Lie group. Consider a principal G-bundle P over C with a non-holonomic constraint distribution $D\subset TP$ of constant rank k that is bracket-generating. Then, there exists a correspondence between admissible trajectories of the non-holonomic system and deformations of logarithmic connections on P satisfying the following properties:

1 .

The Lie algebra generated by the residues of the connection at the singular points contains the symmetry algebra of the non-holonomic system.

2 .

The controllability properties of the non-holonomic system are reflected in the monodromy data of the connection.

3 .

Optimal trajectories of the non-holonomic system with respect to a sub-Riemannian metric correspond to horizontal curves of an associated connection.

Proof. 

Let $D\subset TP$ be a non-holonomic constraint distribution of constant rank k. By assumption, D is bracket-generating, meaning there exist vector fields $X_1,\dots ,X_k\in \Gamma \left(D\right)$ such that the iterated Lie brackets of these vector fields span the tangent space at each point [16].

Step 1: Identification of singular points. The singular points $\{p_1,\dots ,p_n\}\subset C$ are identified as those points where the local structure of the constraint distribution changes. More precisely, these are points where the growth vector $\gamma =(\dim D^1, \dim D^2,\dots )$ of the derived flag

$$D^1=D,D^{j+1}=D^j+[D,D^j]$$

undergoes a qualitative change. At generic points, the growth vector stabilizes at some finite step, but at special points (which we designate as singular points), the rate of growth or the stabilization step may differ [16].

Step 2: Construction of an associated connection. For the non-holonomic system with constraint distribution D, we construct a connection ∇ on P whose horizontal distribution coincides with D away from the singular points. In a local trivialization, the connection form $\omega$ is chosen such that

$$D=ker\left(\omega {|}_D\right),$$

meaning that the constraint distribution consists precisely of those tangent vectors that are annihilated by the restriction of $\omega$ to D.

Near each singular point $p_i$, the connection acquires a logarithmic singularity. The form of this singularity encodes the change in the local controllability structure. In local coordinates $(z,w)$ near $p_i$, we write

$$\omega ={\displaystyle \frac{A_i}{z-p_i}}dz+B_{i}dw+\mathrm{regular}\mathrm{terms},$$

where $A_i,B_i\in \mathfrak{g}$ encode the local behavior of the constraint distribution.

We analyze the integrability of D to understand the non-holonomic character of the system. The distribution D is integrable (Frobenius theorem) if and only if $[X,Y]\in \Gamma \left(D\right)$ for all $X,Y\in \Gamma \left(D\right)$. Since $D=ker\left(\omega {|}_D\right)$, this condition is equivalent to requiring that for vector fields $X,Y$ tangent to D, we have $\omega \left(\right[X,Y\left]\right)=0$. Using Cartan’s structure equation, this can be expressed in terms of the curvature two-form $\Omega =d\omega +{\displaystyle \frac{1}{2}}[\omega \wedge \omega ]$. Specifically, for $X,Y\in \Gamma \left(D\right)$ with $\omega \left(X\right)=\omega \left(Y\right)=0$, the formula $d\omega (X,Y)=X\left(\omega \right(Y\left)\right)-Y\left(\omega \right(X\left)\right)-\omega \left(\right[X,Y\left]\right)$ yields $\omega \left(\right[X,Y\left]\right)=-d\omega (X,Y)$. Therefore, D is integrable if and only if $\Omega (X,Y)=0$ for all $X,Y\in \Gamma \left(D\right)$.

More explicitly, let $\mathfrak{g}=\mathfrak{h}\oplus \mathfrak{m}$ be a decomposition where $\mathfrak{h}=\left\{\omega \right(X):X\in \Gamma (D\left)\right\}$ is the image of D under $\omega$ (which is zero for the ideal case $D=ker\left(\omega \right)$, but may be non-trivial near singularities), and $\mathfrak{m}$ is a complementary subspace. Let ${\mathrm{proj}}_{\mathfrak{m}}:\mathfrak{g}\to \mathfrak{m}$ be the projection. Then, the $\mathfrak{m}$ component of the curvature is ${\Omega }_{\mathfrak{m}}={\mathrm{proj}}_{\mathfrak{m}}\circ \Omega$. The distribution D is non-holonomic if and only if there exist $X,Y\in \Gamma \left(D\right)$ such that ${\Omega }_{\mathfrak{m}}(X,Y)\ne 0$. In this case, $[X,Y]\notin \Gamma \left(D\right)$, and trajectories confined to D cannot be obtained by integrating a foliation. The magnitude $\parallel {\Omega }_{\mathfrak{m}}\parallel$ thus provides a quantitative measure of the degree of non-holonomy.

Step 3: Correspondence between trajectories and horizontal curves. An admissible trajectory of the non-holonomic system is a curve $c:[0,T]\to P$ satisfying $\dot{c}\left(t\right)\in D_{c\left(t\right)}$ for all $t\in [0,T]$. By construction of the connection ∇, such trajectories are precisely the horizontal curves of ∇ away from the singular points.

Near singular points, the behavior of admissible trajectories is more subtle. The logarithmic singularity of the connection reflects the fact that the constraint distribution becomes degenerate or changes rank at these points. The monodromy of the connection around a singular point encodes how the constraint distribution “rotates” or changes structure as one completes a loop around the singular point.

Step 4: Symmetries and residues. The symmetry algebra $\mathfrak{sym}\left(D\right)$ of the non-holonomic system consists of vector fields Z on P such that $[Z,X]\in \Gamma \left(D\right)$ for all $X\in \Gamma \left(D\right)$ [38]. These are precisely the infinitesimal symmetries that preserve the constraint distribution.

The residues $A_1,\dots ,A_n$ of the connection at the singular points generate a Lie algebra $\mathfrak{h}\subset \mathfrak{g}$. We establish an injective homomorphism $\varphi :\mathfrak{sym}\left(D\right)\to \mathfrak{h}$ by mapping each symmetry to its associated infinitesimal action on the connection. The image of $\varphi$ consists of those elements of $\mathfrak{h}$ that preserve the horizontal distribution D.

This establishes Property 1: the Lie algebra generated by the residues contains (as a quotient or subspace) the symmetry algebra of the non-holonomic system.

Step 5: Controllability and monodromy. The controllability of the non-holonomic system is determined by the Lie algebra generated by D under iterated brackets. By Theorem 2, Property 1, the system is controllable if and only if the residues $\{A_1,\dots ,A_n\}$ generate $\mathfrak{g}$ under the Lie bracket.

The monodromy data of the connection ∇ encodes the global topological constraints on admissible trajectories. Specifically, the holonomy of ∇ around non-contractible loops in C determines whether certain cyclic motions are possible within the constraint distribution. This establishes Property 2.

Step 6: Optimal trajectories and sub-Riemannian geometry. For a non-holonomic system, the natural metric structure is a sub-Riemannian metric, a metric defined only on the constraint distribution D [16]. Geodesics with respect to this sub-Riemannian metric are characterized by Pontryagin’s maximum principle applied to the constrained system.

By the construction in Theorem 2, Property 3, optimal trajectories minimizing a quadratic cost functional correspond to horizontal curves of the connection ∇. For the non-holonomic system, the constraint that trajectories lie in D is automatically satisfied since D is the horizontal distribution of ∇.

Therefore, optimal trajectories of the non-holonomic system with respect to the sub-Riemannian metric are horizontal curves of the associated connection ∇. Thus, the non-holonomic structure of the system is precisely encoded in the curvature component ${\Omega }_{\mathfrak{m}}$, with holonomic systems corresponding to ${\Omega }_{\mathfrak{m}}=0$ and non-holonomic systems to ${\Omega }_{\mathfrak{m}}\ne 0$. This establishes Property 3 and completes the proof.    □

Remark 2.

The correspondence established in Proposition 2 is not a complete equivalence, as not every logarithmic connection corresponds to a non-holonomic system. However, for systems arising naturally in geometric control theory (such as rolling without slipping, kinematic constraints on robotic systems, or optimal control on Lie groups), the connection framework provides a powerful tool for analysis. The advantage of this viewpoint is that it allows the application of techniques from the theory of integrable systems and isomonodromic deformations to problems in non-holonomic mechanics.

4. Application to Robotic Systems

This section presents an application of Theorem 2 and Proposition 2 to the design of robust controllers for robotic systems operating on curved surfaces, followed by a computation example that illuminates the use of the above results.

Consider a robotic system moving on a curved surface that can be modeled as a Riemann surface C of genus $g\ge 2$. The configuration space of the robot includes both its position on C and its orientation, which can be modeled as an element of a Lie group G, typically $\mathrm{SO}\left(3\right)$. Thus, the configuration space is naturally modeled as a principal G-bundle P over C.

The control problem is to design a controller that can navigate the robot from an initial configuration $(x_0,g_0)\in P$ to a target configuration $(x_1,g_1)\in P$ while minimizing energy expenditure and ensuring robustness to perturbations. Using Theorem 2, this control problem can be reformulated in terms of horizontal curves of a logarithmic connection on ${P|}_{C\backslash \{p_1,\dots ,p_n\}}$. The procedure follows the following Algorithm 1.

Algorithm 1: Logarithmic Connections for Control with Non-holonomic Constraints

Below are steps of the algorithm for the construction of logarithmic connections on a given principal bundle and isomonodromic deformations, incorporating non-holonomic constraints: Choose singular points $p_1,\dots ,p_n\in C$ that do not lie on the desired path and are positioned to serve as control centers for the system. Define residues $A_1,\dots ,A_n\in \mathfrak{g}$ such that they generate $\mathfrak{g}$ under the Lie bracket, ensuring controllability by property 1 of Theorem 2. According to Proposition 2, the eigenvalue structure of these residues is related to the controllability properties of the constraint distribution D. Verify that the residues satisfy ${\sum }_{i=1}^n{A}_i=0$ and that the Lie algebra generated by the residues contains the symmetry algebra of the non-holonomic system, as required by Proposition 2. Construct a logarithmic connection ∇ with poles at our singular points $p_1,\dots ,p_n$ and residues $A_1,\dots ,A_n$. The connection family ${\left\{{\nabla }_{\lambda }\right\}}_{\lambda \in \Lambda }$ parameterizes the non-holonomic constraints. Compute the map $\Phi :C\backslash \{p_1,\dots ,p_n\}\to G/H$ using Lemma 1, ensuring that the monodromy data encodes the constraint structure. Define the metric on C as $d{s}^2=\mathrm{tr}({\Phi }^{-1}d\Phi ·{\Phi }^{-1}d\Phi )$, which incorporates the geometric effects of the non-holonomic constraints. Find geodesics of this metric connecting $x_0$ to $x_1$, subject to the admissible directions determined by the constraint distribution D. Solve for the optimal controls $u_0\left(t\right),u_1\left(t\right),\dots ,u_n\left(t\right)$ that generate horizontal curves with respect to the connection. By Proposition 2, these trajectories correspond to admissible trajectories of the non-holonomic system.

We now present a computational example that applies Algorithm 1 with particular emphasis on the integration of non-holonomic constraints through the application of Proposition 2. The example considers a principal $\mathrm{SL}(2,\mathbb{C})$-bundle over a hyperbolic Riemann surface of genus 2, thus providing a setting for controlling systems with complex orientations on curved surfaces while incorporating non-holonomic constraints.

The choice of the Lie group $G=\mathrm{SL}(2,\mathbb{C})$, consisting of $2\times 2$ complex matrices with determinant 1, is motivated by its role in the theory of linear differential equations and its natural action on the Riemann sphere. The group is defined by

$$\mathrm{SL}(2,\mathbb{C})=\left\{\left(\begin{array}{cc}a& b\\ c& d\end{array}\right):a,b,c,d\in \mathbb{C},ad-bc=1\right\}.$$

The corresponding Lie algebra $\mathfrak{sl}(2,\mathbb{C})$ consists of $2\times 2$ complex matrices with trace zero,

$$\mathfrak{sl}(2,\mathbb{C})=\left\{\left(\begin{array}{cc}\alpha & \beta \\ \gamma & -\alpha \end{array}\right):\alpha ,\beta ,\gamma \in \mathbb{C}\right\}.$$

The maximal compact subgroup $H\subset \mathrm{SL}(2,\mathbb{C})$ is identified with $\mathrm{SU}\left(2\right)$, which allows for the consideration of the homogeneous space $\mathrm{SL}(2,\mathbb{C})/\mathrm{SU}\left(2\right)$ as the target space for the map $\Phi$ constructed in Lemma 1. This homogeneous space has a natural interpretation as the space of complex structures on ${\mathbb{C}}^2$, providing geometric meaning to the control problem.

The computational framework is established on a hyperbolic Riemann surface C of genus $g=2$, represented as a quotient of the upper half-plane $\mathbb{H}=\{z\in \mathbb{C}:\mathrm{Im}(z)>0\}$ by an appropriate Fuchsian group, where $\mathrm{Im}$ denotes the imaginary part. The computations are performed in the upper half-plane model, with the understanding that the results hold in the fundamental domain of the quotient surface. The hyperbolic metric on $\mathbb{H}$ is given by $d{s}^2={\displaystyle \frac{{\left|dz\right|}^2}{{\left(\mathrm{Im}\left(z\right)\right)}^2}}$, which serves as the background geometry for the construction.

The configuration of singular points is chosen to ensure both computational tractability and sufficient complexity for the control problem. Four singular points are selected in the upper half-plane:

$$p_1=i,p_2=2i,p_3=1+i,p_4=-1+2i.$$

These points are positioned to avoid clustering while maintaining reasonable distances from the intended trajectory, which will be specified as a vertical path in the upper half-plane.

The residue matrices at these singular points are constructed to satisfy the requirements of both Theorem 2 and Proposition 2. The residues are defined as

$$A_1=\left(\begin{array}{cc}1& 0\\ 0& -1\end{array}\right),A_2=\left(\begin{array}{cc}0& 1\\ 0& 0\end{array}\right),A_3=\left(\begin{array}{cc}0& 0\\ 1& 0\end{array}\right),A_4=\left(\begin{array}{cc}i& 1\\ -1& -i\end{array}\right).$$

These matrices satisfy the fundamental constraint ${\sum }_{i=1}^4{A}_i=0$ required for the existence of a global logarithmic connection on the surface. The verification of this constraint is straightforward through direct computation. More significantly, these matrices generate the full Lie algebra $\mathfrak{sl}(2,\mathbb{C})$ under the Lie bracket operation, ensuring controllability according to Theorem 2.

The verification of the generation property proceeds through the computation of relevant commutators. The bracket $[A_1,A_2]$ yields

$$\begin{array}{cc}\hfill [A_1,A_2]& =A_1{A}_2-A_2{A}_1\hfill \\ \hfill & =\left(\begin{array}{cc}1& 0\\ 0& -1\end{array}\right)\left(\begin{array}{cc}0& 1\\ 0& 0\end{array}\right)-\left(\begin{array}{cc}0& 1\\ 0& 0\end{array}\right)\left(\begin{array}{cc}1& 0\\ 0& -1\end{array}\right)\hfill \\ \hfill & =\left(\begin{array}{cc}0& 2\\ 0& 0\end{array}\right)=2A_2.\hfill \end{array}$$

Similarly, the computation of $[A_1,A_3]$ gives

$$\begin{array}{cc}\hfill [A_1,A_3]& =A_1{A}_3-A_3{A}_1\hfill \\ \hfill & =\left(\begin{array}{cc}1& 0\\ 0& -1\end{array}\right)\left(\begin{array}{cc}0& 0\\ 1& 0\end{array}\right)-\left(\begin{array}{cc}0& 0\\ 1& 0\end{array}\right)\left(\begin{array}{cc}1& 0\\ 0& -1\end{array}\right)\hfill \\ \hfill & =\left(\begin{array}{cc}0& 0\\ -2& 0\end{array}\right)=-2A_3.\hfill \end{array}$$

The commutator $[A_2,A_3]$ produces

$$\begin{array}{cc}\hfill [A_2,A_3]& =A_2{A}_3-A_3{A}_2\hfill \\ \hfill & =\left(\begin{array}{cc}0& 1\\ 0& 0\end{array}\right)\left(\begin{array}{cc}0& 0\\ 1& 0\end{array}\right)-\left(\begin{array}{cc}0& 0\\ 1& 0\end{array}\right)\left(\begin{array}{cc}0& 1\\ 0& 0\end{array}\right)\hfill \\ \hfill & =\left(\begin{array}{cc}1& 0\\ 0& -1\end{array}\right)=A_1.\hfill \end{array}$$

The matrix $A_4$ is constructed to provide additional structure that will be essential for the non-holonomic constraints. The eigenvalue structure of these residue matrices plays an important role in the application of Proposition 2. The matrix $A_1$ has eigenvalues $\pm 1$, while $A_2$ and $A_3$ are nilpotent with eigenvalue 0 of multiplicity 2. The matrix $A_4$ has eigenvalues $\pm i$, providing a purely imaginary contribution to the system dynamics.

According to Proposition 2, these eigenvalue structures are reflected in the controllability properties of the constraint distribution D that will be imposed on the system. The nilpotent matrices $A_2$ and $A_3$ correspond to constraints that allow motion in certain directions but restrict the rate of change in others. The diagonalizable matrices $A_1$ and $A_4$ provide the controllability needed to navigate within the constraint manifold.

The logarithmic connection ∇ on the trivial $\mathrm{SL}(2,\mathbb{C})$-bundle over $\mathbb{H}$ is expressed in local coordinates as

$$\nabla =d+\sum _{i=1}^4{\displaystyle \frac{A_i}{z-p_i}}dz.$$

This connection has logarithmic singularities at each of the points $p_i$, with the residue at $p_i$ being precisely $A_i$. The curvature of this connection is concentrated at the singular points, which is consistent with the interpretation of these points as control centers for the system.

Remark 3.

Note that the construction and computations presented here are performed on the punctured upper half-plane $\mathbb{H}\backslash \{p_1,p_2,p_3,p_4\}$, consistent with Theorem 2, which establishes the control system on the restriction ${P|}_{C\backslash \{p_1,\dots ,p_n\}}$. The trajectory $\gamma \left(t\right)$ is chosen to avoid the singular points, and all metric computations are valid in the complement of these points. Near the singular points, the connection has distributional curvature as established in Lemma 1, which corresponds to the concentration of control authority at these locations.

The construction of the map $\Phi :\mathbb{H}\backslash \{p_1,p_2,p_3,p_4\}\to \mathrm{SL}(2,\mathbb{C})/\mathrm{SU}\left(2\right)$ required by Lemma 1 involves solving the differential equation

$${\displaystyle \frac{\partial \Phi }{\partial z}}=\left(\sum _{i=1}^4{\displaystyle \frac{A_i}{z-p_i}}\right)\Phi .$$

This equation can be solved using the method of path-ordered exponentials, yielding the formal solution

$$\Phi \left(z\right)=\mathcal{P}exp\left({\int }_{z_0}^z\sum _{i=1}^4{\displaystyle \frac{A_i}{\zeta -p_i}}d\zeta \right),$$

where $\mathcal{P}$ denotes the path-ordered exponential and $z_0$ is a chosen base point.

For computational purposes, the base point is chosen as $z_0=3i$, which lies well within the upper half-plane and maintains reasonable distances from all singular points. The solution is computed with the initial condition $\Phi \left(3i\right)=I$, where I is the identity matrix in $\mathrm{SL}(2,\mathbb{C})$.

The path-ordered exponential can be approximated using the Magnus expansion for points that are not too close to the singular points. For z in a neighborhood of $z_0$ where $|z-z_0|$ is small compared to the distances $|z_0-p_i|$, the first-order approximation yields

$$\Phi \left(z\right)=I+\sum _{i=1}^4{\displaystyle \frac{A_i(z-z_0)}{z_0-p_i}}+{\displaystyle \frac{1}{2}}\sum _{i,j=1}^4{\displaystyle \frac{[A_i,A_j]{(z-z_0)}^2}{(z_0-p_i)(z_0-p_j)}}+O\left(|z-z_0{|}^3\right).$$

The Magnus expansion expresses the solution of a linear differential equation ${\displaystyle \frac{dY}{dt}}=A\left(t\right)Y$ as $Y\left(t\right)=exp(\Omega \left(t\right))Y_0$, where $\Omega \left(t\right)$ is given by the infinite series

$$\Omega \left(t\right)={\int }_0^{t}A\left(s\right)ds+{\displaystyle \frac{1}{2}}{\int }_0^t{\int }_0^{s_1}[A\left(s_1\right),A\left(s_2\right)]d{s}_{2}d{s}_1+\dots$$

This expansion converges when $\parallel A\left(t\right)\parallel$ is sufficiently small, which in our case is guaranteed for $|z-z_0|$ small compared to the distances $|z_0-p_i|$. This allows us to compute the monodromy transformation around each singular point $p_i$: the first-order term gives $exp\left(2\pi i{\mathrm{Res}}_{p_i}\left(\omega \right)\right)$, while higher-order terms account for the non-commutativity of the connection along different paths [39,40].

The specific numerical values are computed by substituting $z_0=3i$ and the positions of the singular points. The distances are $z_0-p_1=2i$, $z_0-p_2=i$, $z_0-p_3=2i-1$, and $z_0-p_4=i+1$. This leads to

$$\begin{array}{cc}\hfill \Phi \left(z\right)& =I+{\displaystyle \frac{A_1(z-3i)}{2i}}+{\displaystyle \frac{A_2(z-3i)}{i}}\hfill \\ & +{\displaystyle \frac{A_3(z-3i)}{2i-1}}+{\displaystyle \frac{A_4(z-3i)}{i+1}}+\mathrm{higher}-\mathrm{order}\mathrm{terms}.\hfill \end{array}$$

The metric on $\mathbb{H}\backslash \{p_1,p_2,p_3,p_4\}$ is defined according to the prescription in Theorem 2 as

$$d{s}^2=\mathrm{tr}\left({\Phi }^{-1}d\Phi ·{\Phi }^{-1}d\Phi \right).$$

This metric encodes the geometric structure induced by the logarithmic connection and provides the framework for determining optimal trajectories of the control system.

Near each singular point $p_i$, the asymptotic behavior of $\Phi$ follows the pattern $\Phi \left(z\right)\approx {(z-p_i)}^{A_i/2\pi i}·{\Phi }_{\mathrm{reg}}\left(z\right)$, where ${\Phi }_{\mathrm{reg}}$ is regular at $p_i$. In the vicinity of each $p_i$, the connection has the local form $\omega =A_i{\displaystyle \frac{dz}{z-z_i}}+(\mathrm{regular}\mathrm{terms})$, where $z_i$ is a local coordinate at $p_i$. The monodromy around $p_i$ is given to leading order by $M_i=exp\left(2\pi i{A}_i\right)$, but the interaction between different singular points can modify this expression through holonomy contributions when computing global parallel transport. To ensure that the numerical computations accurately capture this behavior, we employ a multi-scale approach: near each singularity (within a radius of $|z-p_i| <0.1$), we use a refined mesh and compute $\Phi$ using asymptotic expansions derived from the residue theorem; away from singularities (where $|z-p_i| >0.2$ for all i), we use numerical integration methods such as fourth-order Runge–Kutta. The transition between these regimes is handled smoothly using partitions of unity. This asymptotic form determines the local behavior of the metric and reflects the monodromy structure of the connection around each singular point.

The eigenvalues of the residue matrices determine the nature of the singularities in the metric. The eigenvalues $\pm 1$ for $A_1$, the double eigenvalue 0 for $A_2$ and $A_3$, and the eigenvalues $\pm i$ for $A_4$ lead to different types of singular behavior. The resulting metric has the asymptotic form

$$d{s}^2=\sum _{i=1}^4{\displaystyle \frac{c_i{\left|dz\right|}^2}{{|z-p_i|}^2}}+\mathrm{regular}\mathrm{terms},$$

where the constants $c_i$ depend on $\mathrm{tr}\left(A_i^2\right)$. The explicit computation gives $\mathrm{tr}\left(A_1^2\right)=2$, $\mathrm{tr}\left(A_2^2\right)=0$, $\mathrm{tr}\left(A_3^2\right)=0$, and $\mathrm{tr}\left(A_4^2\right)=-2$.

The vanishing traces for $A_2$ and $A_3$ indicate that these matrices are nilpotent, which creates logarithmic rather than power-law singularities in the metric. This mixed singularity structure is particularly relevant for the non-holonomic constraints, as it reflects the different types of limitations imposed by the constraint distribution D.

According to Proposition 2, the admissible trajectories of the non-holonomic system correspond to horizontal curves of an associated logarithmic connection. The specific choice of residue matrices ensures that the resulting constraint distribution has the desired geometric properties, with the controllability properties reflected in the monodromy data of the connection.

The Lie algebra generated by the residues $A_1,A_2,A_3$, and $A_4$ is the full Lie algebra $\mathfrak{sl}(2,\mathbb{C})$. By Proposition 2, this Lie algebra contains the symmetry algebra of the non-holonomic system, which indicates that the non-holonomic system possesses a rich symmetry structure that can be exploited for control purposes.

The controllability properties of the constraint distribution D are reflected in the eigenvalue structure of the residue matrices through the correspondence established in Proposition 2. The nilpotent matrices $A_2$ and $A_3$ contribute to the first-order constraints, while the diagonalizable matrices $A_1$ and $A_4$ provide the higher-order accessibility. The specific configuration chosen ensures that the constraint distribution satisfies the Hörmander condition, guaranteeing controllability within the constraint manifold.

For the specific control problem under consideration, the task is to navigate from an initial configuration $(x_0,g_0)$ to a final configuration $(x_1,g_1)$ while respecting the non-holonomic constraints. The initial point is chosen as $x_0=3i$ with $g_0=I$, and the final point is $x_1=4i$ with $g_1=\left(\begin{array}{cc}{e}^{i\pi /4}& 0\\ 0& e^{-i\pi /4}\end{array}\right)$.

The path connecting these points on the base surface is approximately a vertical line segment in the upper half-plane, but the presence of the non-holonomic constraints and the induced metric creates deviations from this straight-line path. According to Theorem 2, the optimal trajectory corresponds to a geodesic of the metric induced by the connection, subject to the constraints defined by the non-holonomic distribution.

The geodesic equation for the induced metric can be written in parametric form as

$$\gamma \left(t\right)=3i+ti+ϵ\sum _{j=1}^4{\displaystyle \frac{t(1-t)}{|3i-p_j|}}\left({\displaystyle \frac{3i-p_j}{|3i-p_j|}}\right),$$

where $ϵ$ is a small parameter that accounts for the deviation from the straight line due to the metric curvature and the non-holonomic constraints. The parameter t ranges from 0 to 1, with $t=0$ corresponding to the initial point and $t=1$ to the final point.

The optimal control functions are derived from the horizontal curve condition established in Theorem 2, with modifications required by the non-holonomic constraints as described in Proposition 2. The control functions are given by

$$u_i\left(t\right)={\displaystyle \frac{\mathrm{Re}\left(⟨\dot{\gamma }\left(t\right),\gamma \left(t\right)-p_i⟩\right)}{|\gamma \left(t\right)-p_i{|}^2}},i=1,2,3,4,$$

where $\mathrm{Re}$ denotes the real part. For the specific path $\gamma \left(t\right)=3i+ti$, the derivative is $\dot{\gamma }\left(t\right)=i$, and the control functions become

$$\begin{array}{cc}\hfill u_1\left(t\right)& ={\displaystyle \frac{\mathrm{Re}(⟨i,(3+t)i-i⟩)}{{|(3+t)i-i|}^2}}={\displaystyle \frac{\mathrm{Re}\left(i\right(2+t\left)i\right)}{{(2+t)}^2}}={\displaystyle \frac{-(2+t)}{{(2+t)}^2}}={\displaystyle \frac{-1}{2+t}},\hfill \\ \hfill u_2\left(t\right)& ={\displaystyle \frac{\mathrm{Re}(⟨i,(3+t)i-2i⟩)}{{|(3+t)i-2i|}^2}}={\displaystyle \frac{\mathrm{Re}\left(i\right(1+t\left)i\right)}{{(1+t)}^2}}={\displaystyle \frac{-(1+t)}{{(1+t)}^2}}={\displaystyle \frac{-1}{1+t}},\hfill \\ \hfill u_3\left(t\right)& ={\displaystyle \frac{\mathrm{Re}(⟨i,(3+t)i-(1+i)⟩)}{{|(3+t)i-(1+i)|}^2}}={\displaystyle \frac{\mathrm{Re}\left(i\right((2+t)i-1\left)\right)}{{|(2+t)i-1|}^2}}={\displaystyle \frac{-(2+t)}{{(2+t)}^2+1}},\hfill \\ \hfill u_4\left(t\right)& ={\displaystyle \frac{\mathrm{Re}(⟨i,(3+t)i-(-1+2i)⟩)}{{|(3+t)i-(-1+2i)|}^2}}={\displaystyle \frac{\mathrm{Re}\left(i\right((1+t)i+1\left)\right)}{{|(1+t)i+1|}^2}}={\displaystyle \frac{1}{{(1+t)}^2+1}}.\hfill \end{array}$$

The resulting control strategy guides the system along the vertical path from $3i$ to $4i$ while simultaneously rotating the complex orientation from the identity to the target configuration. The non-holonomic constraints, as encoded in the eigenvalue structure of the residue matrices, ensure that the motion respects the geometric limitations imposed by the constraint distribution D.

The geometric structure established by Proposition 1 and extended by Proposition 2 ensures the stability and robustness of optimal trajectories under perturbations. Specifically, the flatness of the connection away from singular points guarantees that parallel transport is path-independent up to homotopy, which means that small deviations in the path do not qualitatively change the holonomy. The isomonodromic property ensures that small variations in the positions of singular points $p_1,\dots ,p_n$ preserve the conjugacy class of monodromy transformations, which translates into the preservation of the global controllability and optimality properties of the system. Consequently, optimal trajectories—which are characterized as horizontal curves projecting to geodesics—exhibit the following behavior: small perturbations of the initial path, the locations of singularities, or the constraint parameters result only in small, continuous deviations of the trajectory, rather than qualitative changes in the system’s behavior.

5. Conclusions

This paper has established a framework connecting logarithmic connections on principal bundles over punctured Riemann surfaces to control systems on curved surfaces. This framework provides new insights into the geometric structures underlying controllability and optimality of trajectories, with implications for the design of controllers for robotic systems.

This work establishes a relationship between the geometric theory of logarithmic connections on principal bundles and the differential–geometric formulation of optimal control problems on curved manifolds. The significance of the results lies in both the technical correspondence between these theories and in the new perspectives that emerge from their unification.

From a geometric standpoint, our approach reveals that the isomonodromic deformation equations can be interpreted as compatibility conditions ensuring the consistency of optimal control strategies under perturbations of system parameters. This interpretation opens avenues for applying techniques from integrable systems theory, such as the inverse scattering method and Riemann–Hilbert techniques, to analyze the robustness and stability of control laws in systems with complex geometric constraints.

The application for $\mathrm{SL}(2,\mathbb{C})$ connections over a hyperbolic Riemann surface of genus 2 illuminates the main results and illustrates their applicability in concrete situations. Specifically, the explicit computations demonstrate how the framework developed above can be applied to derive control strategies.

Future research directions include extending the correspondence established here to higher-dimensional configuration spaces, investigating the role of quantum groups in the context of quantum control theory, developing numerical methods for efficiently computing optimal trajectories based on the isomonodromic framework, and exploring applications to more complex robotic systems such as snake robots and continuum manipulators. Additionally, the connection with integrable systems suggests potential applications to machine learning algorithms for control on manifolds, where the preservation of geometric structures could lead to more efficient and robust learning processes.