First-order symmetrizable hyperbolic formulations of Einstein's equations including lapse and shift as dynamical fields

First-order hyperbolic systems are promising as a basis for numerical integration of Einstein's equations. In previous work, the lapse and shift have typically not been considered part of the hyperbolic system and have been prescribed independently. This can be expensive computationally, especially if the prescription involves solving elliptic equations. Therefore, including the lapse and shift in the hyperbolic system could be advantageous for numerical work. In this paper, two first-order symmetrizable hyperbolic systems are presented that include the lapse and shift as dynamical fields and have only physical characteristic speeds