Liouville's phase space theorem states that the phase flow of a Hamiltonian system preserves phase
space volume. On a -dimensional phase
space with position coordinates
and momentum coordinates
,
the symplectic form is
|
(1)
|
and the associated differential 2n-form is
|
(2)
|
If
denotes the phase flow, then the pullback
map satisfies
and therefore
. Equivalently, for every region
in phase space,
|
(3)
|
This volume integral is the top-dimensional Poincaré integral invariant (Arnold 1989, pp. 237-239).
For one degree of freedom, a small time increment
gives
|
(4)
| |||
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(5)
| |||
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(6)
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(7)
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The Jacobian is then equal to one to first order:
|
(8)
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|
(9)
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|
(10)
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In the continuous-time limit, the Jacobian of the phase flow is 1. In particular, symplectic maps preserve the Liouville measure, and their Jacobians have determinant 1.