An introduction to Lax pairs and the zero curvature representation

Lax pairs are a useful tool in finding conserved quantities of some dynamical systems. In this expository article, we give a motivated introduction to the idea of a Lax pair of matrices $(L,A)$, first for mechanical systems such as the linear harmonic oscillator, Toda chain, Eulerian rigid body and the Rajeev-Ranken model. This is then extended to Lax operators for one-dimensional field theories such as the linear wave and KdV equations and reformulated as a zero curvature representation via a $(U,V)$ pair which is illustrated using the nonlinear Schr\"odinger equation. The key idea is that of realizing a (possibly) nonlinear evolution equation as a compatibility condition between a pair of linear equations. The latter could be an eigenvalue problem for the Lax operator $L$ and a linear evolution equation generated by $A$, for the corresponding eigenfunction. Alternatively, they could be the first order linear system stating the covariant constancy of an arbitrary vector with respect to the 1+1 dimensional gauge potential $(V,U)$. The compatibility conditions are then either the Lax equation $\dot L = [L, A]$ or the flatness condition $U_t - V_x + [U, V] = 0$ for the corresponding gauge potential. The conserved quantities then follow from the isospectrality of the Lax and monodromy matrices.