Warp of the Invariant Circle and Onset of Chaos in Josephson Junction Equation

The dynamics of the dc and ac driving Josephson junction equation is studied in terms of the two-dimensional Poincaré map. The smooth invariant circle on the phase cylinder in over-damped case a ） 2 loses smoothness as a decreases and becomes a strange attractor eventually. This triggers two kinds of chaos, one occurs in the regions between two Arnold tongues and the other occurs within the tongues.