“…The normal form (18), when expressed in the coordinates (P 2 , P 3 , Q 2 , Q 3 ), is an example of this class of Hamiltonians. A general result concerning polynomials invariant under the action of a compact group is the Hilbert-Schwartz theorem (Hanßmann & Hoveijn 2018): it states that a finite number of polynomials, generating the Hilbert basis, exist such that any invariant polynomial can be expressed in terms of them. Cushman & Bates (1997) prove that the Hilbert basis of the polynomials in R 4 invariant under the S 1 -action ( 21) is given by…”