Comparing the variations of energy and angular momentum of the inner four planets and all nine planets， it is apparent that the amplitudes of those of the inner planets are much smaller than those of all nine planets: the amplitudes of the outer five planets are much larger than those of the inner planets. This does not mean that the inner terrestrial planetary subsystem is more stable than the outer one: this is simply a result of the relative smallness of the masses of the four terrestrial planets compared with those of the outer jovian planets. Another thing we notice is that the inner planetary subsystem may become unstable more rapidly than the outer one because of its shorter orbital time-scales. This can be seen in the panels denoted asinner 4 in Fig. 7 where the longer-periodic and irregular oscillations are more apparent than in the panels denoted astotal 9. Actually， the fluctuations in theinner 4 panels are to a large extent as a result of the orbital variation of the Mercury. However， we cannot neglect the contribution from other terrestrial planets， as we will see in subsequent sections.
4.4 Long-term coupling of several neighbouring planet pairs
Let us see some individual variations of planetary orbital energy and angular momentum expressed by the low-pass filtered Delaunay elements. Figs 10 and 11 show long-term evolution of the orbital energy of each planet and the angular momentum in N+1 and N−2 integrations. We notice that some planets form apparent pairs in terms of orbital energy and angular momentum exchange. In particular， Venus and Earth make a typical pair. In the figures， they show negative correlations in exchange of energy and positive correlations in exchange of angular momentum. The negative correlation in exchange of orbital energy means that the two planets form a closed dynamical system in terms of the orbital energy. The positive correlation in exchange of angular momentum means that the two planets are simultaneously under certain long-term perturbations. Candidates for perturbers are Jupiter and Saturn. Also in Fig. 11， we can see that Mars shows a positive correlation in the angular momentum variation to the Venus–Earth system. Mercury exhibits certain negative correlations in the angular momentum versus the Venus–Earth system， which seems to be a reaction caused by the conservation of angular momentum in the terrestrial planetary subsystem.
It is not clear at the moment why the Venus–Earth pair exhibits a negative correlation in energy exchange and a positive correlation in angular momentum exchange. We may possibly explain this through observing the general fact that there are no secular terms in planetary semimajor axes up to second-order perturbation theories (cf. Brouwer & Clemence 1961; Boccaletti & Pucacco 1998). This means that the planetary orbital energy (which is directly related to the semimajor axis a) might be much less affected by perturbing planets than is the angular momentum exchange (which relates to e). Hence， the eccentricities of Venus and Earth can be disturbed easily by Jupiter and Saturn， which results in a positive correlation in the angular momentum exchange. On the other hand， the semimajor axes of Venus and Earth are less likely to be disturbed by the jovian planets. Thus the energy exchange may be limited only within the Venus–Earth pair， which results in a negative correlation in the exchange of orbital energy in the pair.
As for the outer jovian planetary subsystem， Jupiter–Saturn and Uranus–Neptune seem to make dynamical pairs. However， the strength of their coupling is not as strong compared with that of the Venus–Earth pair.
5 ± 5 × 1010-yr integrations of outer planetary orbits
Since the jovian planetary masses are much larger than the terrestrial planetary masses， we treat the jovian planetary system as an independent planetary system in terms of the study of its dynamical stability. Hence， we added a couple of trial integrations that span ± 5 × 1010 yr， including only the outer five planets (the four jovian planets plus Pluto). The results exhibit the rigorous stability of the outer planetary system over this long time-span. Orbital configurations (Fig. 12)， and variation of eccentricities and inclinations (Fig. 13) show this very long-term stability of the outer five planets in both the time and the frequency domains. Although we do not show maps here， the typical frequency of the orbital oscillation of Pluto and the other outer planets is almost constant during these very long-term integration periods， which is demonstrated in the time–frequency maps on our webpage.
In these two integrations， the relative numerical error in the total energy was ∼10−6 and that of the total angular momentum was ∼10−10.
5.1 Resonances in the Neptune–Pluto system
Kinoshita & Nakai (1996) integrated the outer five planetary orbits over ± 5.5 × 109 yr . They found that four major resonances between Neptune and Pluto are maintained during the whole integration period， and that the resonances may be the main causes of the stability of the orbit of Pluto. The major four resonances found in previous research are as follows. In the following description，λ denotes the mean longitude，Ω is the longitude of the ascending node and ϖ is the longitude of perihelion. Subscripts P and N denote Pluto and Neptune.
Mean motion resonance between Neptune and Pluto (3:2). The critical argument θ1= 3 λP− 2 λN−ϖP librates around 180° with an amplitude of about 80° and a libration period of about 2 × 104 yr.
The argument of perihelion of Pluto ωP=θ2=ϖP−ΩP librates around 90° with a period of about 3.8 × 106 yr. The dominant periodic variations of the eccentricity and inclination of Pluto are synchronized with the libration of its argument of perihelion. This is anticipated in the secular perturbation theory constructed by Kozai (1962).
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