A proof of Jarzynski's nonequilibrium work theorem for dynamical systems that conserve the canonical distribution

We present a derivation of the Jarzynski [Phys. Rev. Lett. 78, 2690 (1997)] identity and the Crooks [J. Stat. Phys. 90, 1481 (1998)] fluctuation theorem for systems governed by deterministic dynamics that conserves the canonical distribution such as Hamiltonian dynamics, Nosé-Hoover dynamics, Nosé-Hoover chains, and Gaussian isokinetic dynamics. The proof is based on a relation between the heat absorbed by the system during the nonequilibrium process and the Jacobian of the phase flow generated by the dynamics.