Construction of Whiskers for the Quasiperiodically Forced Pendulum

We study a Hamiltonian describing a pendulum coupled with several anisochronous oscillators, giving a simple construction of unstable KAM tori and their stable and unstable manifolds for analytic perturbations. We extend analytically the solutions of the equations of motion, order by order in the perturbation parameter, to a uniform neighbourhood of the time axis.