Symmetric and non-symmetric periodic orbits for the digital filter map

We exhibit instances of non-symmetric periodic orbits for the digital filter map, resolving a question posed in the literature as to whether such orbits can exist. This piecewise irrational rotation, depending on a parameter a = 2cos , is an isometry of [-1, 1) [-1, 1) and reflections in the two diagonals are time-reversing symmetries for the map. Symmetric orbits are plentiful and have been much investigated. Each periodic orbit is paired with a symbolic string, from the alphabet {-, 0, +}, arising under iteration of the map because of the presence of a line of discontinuity. We prove the existence of an infinite family of non-symmetric orbits where the period N starts at 29 and increases in steps of 5; they correspond to the strings (+00)5(+-)20N-19. We describe several computer algorithms to find non-symmetric periodic orbits and their symbolic strings and list non-symmetric strings both for a = 0.5, and for N 100 across the parameter range. Our evidence suggests that non-symmetric orbits, though not plentiful, are characteristic of the dynamics of the map for all parameter values.