Introduction

Sturmian words are infinite words over a binary alphabet that have exactly n + 1 factors of length n for each n ≥ 0. It appears that these words admit several equivalent definitions, and can even be described explicitly in arithmetic form. This arithmetic description is a bridge between combinatorics and number theory. Moreover, the definition by factors makes Sturmian words define symbolic dynamical systems. The first detailed investigations of these words were done from this point of view. Their numerous properties and equivalent definitions, and also the fact that the Fibonacci word is Sturmian, have led to a great development, under various terminologies, of the research.

The aim of this chapter is to present basic properties of Sturmian words and of their transformation by morphisms. The style of exposition relies basically on combinatorial arguments.

The first section is devoted to the proof of the Morse–Hedlund theorem stating the equivalence of Sturmian words with the set of balanced aperiodic words and the set of mechanical words of irrational slope. We also mention several other formulations of mechanical words, such as rotations and cutting sequences. We next give properties of the set of factors of one Sturmian word, such as closure under reversal, the minimality of the associated dynamical system, the fact that the set depends only on the slope, and we give the description of special words.