Centre manifold theorem for a discrete dynamical system ($|\lambda |=1$)

For a sufficiently smooth local map fixing the origin, a local invariant centre manifold is tangent to the generalized eigenspaces with eigenvalues of modulus one. Writing the map as $(u,v)\mapsto (F(u,v),G(u,v))$ and the manifold as $v=h(u)$ gives the invariance equation $h(F(u,h(u)))=G(u,h(u))$. Finite Taylor series coefficients can be found from this equation. If all transverse eigenvalues have modulus less than one, local asymptotic stability reduces to that of the map on the centre manifold.