November 29, 2019 10:43 WSPC/S0218-1274 1950173

International Journal of Bifurcation and Chaos, Vol. 29, No. 13 (2019) 1950173 (17 pages)
c World Scientific Publishing Company
DOI: 10.1142/S0218127419501736

Bifurcation Modes of Periodic Solution in

a Duffing System Under Constant Force
as Well as Harmonic Excitation
by THE UNIVERSITY OF WESTERN ONTARIO on 12/10/19. Re-use and distribution is strictly not permitted, except for Open Access articles.

Lei Hou∗ , Xiaochao Su† and Yushu Chen‡

School of Astronautics, Harbin Institute of Technology,
Harbin 150001, P. R. China
∗houlei@hit.edu.cn
†chaoxiaosu@stu.hit.edu.cn
‡yschen@hit.edu.cn
Int. J. Bifurcation Chaos 2019.29. Downloaded from www.worldscientific.com

Received November 30, 2017; Revised July 4, 2018

This paper focuses on the classification of the bifurcation modes of a Duffing system under the
combined excitations of constant force and harmonic excitation. The Harmonic Balance method
combined with the arc-length continuation is used to obtain the periodic solutions of the system,
and the Floquet theory is employed to analyze the stability of the corresponding solutions.
Accordingly, the frequency-response curves affected respectively by the constant force and the
magnitude of the harmonic excitation are analyzed to show the basic dynamical properties of the
system. Afterwards, the bifurcation investigations are carried out with the aid of the two-state
variable singularity method. It is derived that there are a total of six different types of bifurcation
modes due to the effects of the constant force and the magnitude of the harmonic excitation.
At last, the effects of the nonlinearity parameter and the damping ratio on the bifurcation
modes of the system are also discussed. The results obtained in this paper extend the findings
in reference that the system can have markedly three types of frequency-response curves: with
only one solution, or with maximum three or five solutions for a certain excitation frequency,
and contribute to a better understanding of the significant influence of the constant force.

Keywords: Bifurcation modes; Duffing system; constant force; two-state variable singularity
method.

1. Introduction [Perkins & Balachandran, 2015; Wu et al., 2015],

The Duffing system is one of the most representa-
tive nonlinear vibration systems in real-world appli-
cations, the nonlinear dynamical characteristics of
which for different kinds of resonances, such as pri-
mary, subharmonic and superharmonic resonances,
have been studied for many years [Nayfeh & Mook,
1979; Chen & Leung, 1998]. The abundant nonlin-
ear phenomena, such as hysteresis and jump phe-
nomena [Brennan et al., 2008; Malatkar & Nayfeh,
2002], multiple periodic solutions and bistable states
period-doubling bifurcations and chaos [Luo &
Huang, 2013; Fouda et al., 2016], were widely dis-
cussed for Duffing system. More recently, the mech-
anism of jump phenomena and the suppression of
chaos in fractional Duffing oscillators have drawn
increasing attention [Liu et al., 2017; Du et al., 2018].
But in most of these studies, the external excitations
commonly considered are only harmonic excitations.
The constant excitation, or also called constant
force, is also an important type of external excitation,

∗
Author for correspondence

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 November 29, 2019 10:43
L. Hou et al.
which can have considerable effect on the nonlin-
ear behaviors of nonlinear dynamical systems. For a
class of parametrically excited system, it was proved
that the constant force plays a decisive role in the
occurrence of the superharmonic resonances and the
primary one [Hou et al., 2014]. For a Duffing type
rotor model, it was found that the increase of the
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maneuver load, which may be considered as a con-
stant force under some assumptions, may increase
the formant frequency and the primary resonance
frequencies, and furthermore, the maneuver load
can cause an apparent effect on the bifurcation of
the system [Hou et al., 2016]. Besides, the maneuver
load can also cause the occurrence of the subhar-
monic resonances in some rotor systems supported
by metal rubber springs (with cubic nonlinearity)
Int. J. Bifurcation Chaos 2019.29. Downloaded from www.worldscientific.com
or ball bearings (with combined nonlinearities of
fractional exponent and clearance) [Hou & Chen,
2014; Hou et al., 2015a]. More recently, the effect of
gravity-induced asymmetry on the nonlinear vibra-
tion of an overhung rotor was studied in [Chipato
et al., 2018], it was shown that gravity plays a cru-
cial role, resulting in additional multiperiodic and
chaotic solutions in the stationary frame and con-
tinuous contact.
The importance of the constant force influences
has come to draw increasing attention. Carnegie
and Reif [1969] took into account the effect of
gravity (a constant force) to investigate the ultra-
harmonic resonance of order 2 for a single-degree-
of-freedom system with a Duffing restoring force
characteristic, it was shown that the gravity results
in the asymmetry of the restoring force, since the
power-law exponent of the potential energy func-
tion is changed from being an odd number to an
even number. Saeed and El-Gohary [2017] ana-
lyzed the nonlinear vibration of a horizontally sup-
ported Jeffcott rotor system considering both the
Duffing type restoring force and the rotor weight,
which shows a small difference between the natu-
ral frequencies of the vertical and horizontal modes,
and the model shows complicated jump phenom-
ena at the simultaneous resonance case. Kovacic
et al. [2008] investigated the primary resonance
response of an asymmetric Duffing oscillator with
no linear stiffness term and with hardening char-
acteristic, the results showed that due to the effect
of the constant force resulting in the asymmetry,
there can be a total of four different shapes of
frequency-response curves (FRCs), apart from the
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WSPC/S0218-1274 1950173
single-valued and the multivalued with the maxi-
mum of three steady-state values for the response
of a symmetric Duffing oscillator, the FRCs may
have a double bend with three steady-state values
or have double bends with five steady-state values.
More recently, investigations on quasi-zero-stiffness
vibration systems also indicated that the constant
force can make the system change its characteris-
tic from being purely hardening to a mixed soft-
ening and hardening characteristic and finally to a
purely softening characteristic as the constant force
increases from zero [Kovacic et al., 2009; Huang
et al., 2014; Abolfathi et al., 2015]. More recently,
it was shown that the increase of constant param-
eter contributes to increase in the chaotic behavior
in a chemical system modeled by a forced modified
van der Pol–Duffing oscillator [Miwadinou et al.,
2018].
The motivation of this paper is to detect the
classification of bifurcation modes of a Duffing sys-
tem due to harmonic excitation combined with con-
stant force. The motion of the system is governed
by the following nondimensional equation
ÿ + 2ξ ẏ + γy 3 = F0 + F1 cos ωt, (1)
where y is the displacement, ξ is the damping ratio,
γ is a parameter related to the nonlinearity, F0 rep-
resents the constant force, F1 and ω are respectively
the magnitude and frequency of the harmonic exci-
tation. Overdots denote derivatives with respect to
time t. All variables are nondimensional.
Equation (1) is a simplification of the vertical
motion equation of the Duffing-type rotor system in
[Hou et al., 2016] when ignoring the coupling effects
between different degrees of freedom. Different from
[Kovacic et al., 2008], the linear stiffness term is
considered here. An analytical method, proposed by
Chen and Langford [1988] and extended by Qin and
Chen [2010] and Li and Chen [2012], namely a two-
state variable singularity method, is applied in this
paper, which enables us to obtain the bifurcation
modes and the transition sets of the nonlinear sys-
tem. Through the bifurcation investigations, it was
found that there are a total of six different types of
bifurcation modes due to the effects of the constant
force and the magnitude of the harmonic excitation,
which extends the findings in [Kovacic et al., 2008]
that the frequency-response curves can have three
markedly different groups of shapes or bifurcation
types.
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Bifurcation Modes of Periodic Solution in a Duffing System

 2 
2. Frequency-Response Analysis 3
A21 1 − ω 2 + 3γA20 + γA21 + (−2ξω)2
2.1. Derivation of bifurcation 4
equations for primary
resonance = F 21 . (4b)
The Harmonic Balance method is employed to Letting X = A20 and Y = A21 , and taking
obtain the bifurcation equations, i.e. amplitude- the substitution for Eq. (4), the coupled amplitude-
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frequency equations, of system (1) in the case of frequency equations are simplified to be
primary resonance. The approximate solution cor-
responding to the steady-state response is assumed  2
3
to be [Kovacic et al., 2008] X 1 + γX + γY = F 20 , (5a)
2
y(t) = A0 + A1 cos(ωt + θ). (2)  2 
2 3 2
Substituting Eq. (2) into Eq. (1) and equating Y 1 − ω + 3γX + γY + (−2ξω)
4
constant terms and the coefficients of the terms con-
taining cos ωt and sin ωt separately to zero, we have = F 21 .
Int. J. Bifurcation Chaos 2019.29. Downloaded from www.worldscientific.com

(5b)
3
A0 + γA30 + γA0 A21 = F0 , (3a) Equation (5) is the finally obtained bifurcation
2 equations of the system, based on which, the peri-
3 odic responses and their bifurcations being depen-
A1 − ω 2 A1 + 3γA20 A1 + γA31 = F1 cos θ, (3b)
4 dent on system parameters can be analyzed in
−2ξωA1 = F1 sin θ, (3c) detail.

which are coupled nonlinear algebraic equations in

terms of a constant term A0 , the amplitude of the 2.2. Calculation of periodic
harmonic term A1 and phase θ. responses
Squaring Eq. (3), and eliminating θ, this leads According to Eq. (2), a fixed point of Eq. (5) corre-
to sponds to a periodic solution of system (1), thus
 2
3 we can obtain the periodic responses by solving
A20 1 + γA20 + γA21 = F 20 , (4a)
2 Eq. (5).
Rewriting Eq. (5) in the following matrix form
⎡ ⎤
 2
3
  ⎢⎢ X 1 + γX + γY − F 20 ⎥
⎥
g1 ⎢ 2 ⎥
g= =⎢
⎢  2  ⎥=0
⎥ (6)
g2 ⎢ 2 3 2 2 ⎥
⎣Y 1 − ω + 3γX + γY + (−2ξω) − F 1 ⎦
4

and supposing that X = [X, Y ]T is the vector of unknowns for the solution, a Newton–Raphson iterative
procedure can be performed as follows in order to find a fixed point X for Eq. (6)

X(k+1) = X(k) − J−1 g(k) , (7)

where J is the Jacobian matrix, i.e.

⎡ ⎤
∂g1 ∂g1
⎢ ⎥
∂g ⎢ ∂X ∂Y ⎥
J= =⎢ ⎥. (8)
∂X ⎢⎣ ∂g2
⎥
∂g2 ⎦
∂X ∂Y

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L. Hou et al.

The iterative process is described as follows: Letting

(i) With an initial guess X(0) , calculate the J U = [y ẏ]T = [Y1 Y2 ]T , (11)
matrix and the g vector.
then according to Eq. (1), it can be obtained that
(ii) By utilizing (7), calculate X(1) .  
(iii) Continue (i) and (ii) procedures until the iter- Y2
ation converges to a vector X(k) which is accu- U̇(t) =
−2ξY2 − Y1 − γY 31 + F0 + F1 cos ωt
rate within an allowed error tolerance, i.e. the
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norm of X(k) − X(k−1) is less than the allowed = F(t, U(t)). (12)
error.
Suppose that U∗ is an equilibrium point of
Eq. (4), i.e. the solution obtained through the Har-
2.3. Arc-length continuation monic Balance method. Then taking a perturbation
It is noted that the Newton–Raphson iterative pro- ΔU to U∗ , it can be obtained that
cedure may fail at turning or bifurcation points. ∂F(t, U∗ )
Thus the arc-length continuation is adopted for ΔU̇ = F(t, U∗ + ΔU) ≈ ΔU
∂U∗
Int. J. Bifurcation Chaos 2019.29. Downloaded from www.worldscientific.com

tracing the solution branch [Von Groll & Ewins,

2001; Lam & Morley, 1992]. With respect to one = A(t, U∗ (t))ΔU. (13)
scalar parameter υ, Eq. (6) can be rewritten as Thus the stability of U∗ can be determined by
g(X) = g̃(X, υ) = 0, (9) matrix A(t, U∗ (t)).
According to Hsu’s method [Zhang & Chen,
where υ is a control parameter, which is equal to the 2014], the approximate monodromy matrix can be
frequency of harmonic excitation ω in this study. A expressed as
continuation parameter s along with the arc-length Nn

of a solution branch is chosen, so that X = X(s) M = Ψ(T ) = eAn ΔT
and υ = υ(s). Thus, Eq. (9) can be transformed n=1
into ⎛ ⎞
⎧ Nn
 Nj

⎪ ⎝I + (An ΔT )j ⎠,
⎪
⎪ ∂g̃(X, υ) dX ∂g̃(X, υ) dυ = (14)
⎪
⎪ + = 0, j!
⎨ ∂X ds ∂υ ds n=1 j=1
 2 (10)
⎪
⎪ dg̃(X, υ)T dg̃(X, υ) in which, T is the time period of the solution,
⎪
⎪
dυ
⎪
⎩ + = 1. I denotes the identity matrix, and An is a con-
ds ds ds
stant matrix representing the time-varying matrix
Equation (10) allows the solver to move along A(t, U∗ ) in the nth time interval, which is
the arc-length s of a solution branch. The predictor–  tn
1
corrector (P–C) procedure [Seydel, 2009; Huang An = A(t, U∗ (t))dt, (15)
ΔT tn−1
et al., 2004] is generally proposed to iterate the solu-
tion branch starting from (X, υ)0 . A simple strategy where tn = nΔT /Nn , n = 1, 2, . . . , Nn .
for the step length control in reference [Huang et al., By combining it with a discrete procedure for
2004] is applied to trace the branch effectively. U∗ , we have
An ≈ A(tn , U∗ (tn )). (16)
2.4. Stability analysis of the
Substituting Eq. (16) into Eq. (14), and calcu-
obtained periodic solutions
lating the eigenvalues (the Floquet multipliers) of
In this section, the Floquet theory [Chen, 2002; matrix M, then the stability of U∗ can be derived.
Zhou & Zhu, 1998] is employed to analyze the stabil-
ity of the solutions obtained through the Harmonic
Balance method. Based on Hsu’s method [Fried- 2.5. Frequency-response curves
mann et al., 1977; Zhang & Chen, 2014], a simplified By using the Harmonic Balance method combined
strategy to get the Floquet index can be formulated with the arc-length continuation, the frequency-
as follows. response curves can be displayed to show the basic

1950173-4
 November 29, 2019 10:43
0.35
0.3
0.25
A0
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0.2
F 1 =0.002
F 1 =0.006
0.15 F 1 =0.011
F 1 =0.013
F 1 =0.02
0.1
1.3 1.35 1.4 1.45 1.5 1.55 1.6
ω ω
Int. J. Bifurcation Chaos 2019.29. Downloaded from www.worldscientific.com
(a)
Fig. 1. Frequency-response curves of the system for F0 = 0.45: (a) for the constant terms and (b) for the amplitude of
harmonic terms. Solid lines for stable solutions, dashed lines for unstable solutions.
dynamical properties of the system. The system
parameters are as follows: ξ = 0.01, γ = 4.
The frequency-response curves of the system for
F1 = 0.002, F1 = 0.006, F1 = 0.011, F1 = 0.013
and F1 = 0.02 when F0 = 0.45 are shown in Fig. 1,
where the solid lines are for the stable solutions,
and the dashed lines are for the unstable solutions.
In Fig. 1(b), for a certain constant force, with the
increase of the harmonic excitation magnitude, it
can be found that the resonant peak value of the
harmonic term of response increases significantly,
besides, the resonant curve bends first to the left
side and then to the right side. As a result, differ-
ent bifurcation modes may exist, e.g. the resonant
curve may have one hysteresis region with maxi-
mum three periodic solutions (two of them are sta-
ble, and the other one is unstable), or it may have
two hysteresis regions with maximum five periodic
solutions (three of them are stable, and the other
two are unstable).
Moreover, due to the coupling effect, the
frequency-response curve of the constant term also
bends to the same side as the harmonic term of
response bends [see Fig. 1(a)]. Nevertheless, the
value of the constant term decreases in the resonant
region, which is an opposite trend of the amplitude
of the harmonic term.
From another point of view, the frequency-
response curves of the system for F0 = 0.25,
F0 = 0.35, F0 = 0.45, F0 = 0.55 and F0 =
0.7 when F1 = 0.015 are displayed to reflect the
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WSPC/S0218-1274 1950173
Bifurcation Modes of Periodic Solution in a Duffing System
0.7
F 1 =0.002
F 1 =0.006
0.6
F 1 =0.011
F 1 =0.013
0.5 F 1 =0.02
0.4
A1
0.3
0.2
0.1
0
1.3 1.35 1.4 1.45 1.5 1.55 1.6
(b)
effect of the constant force, as shown in Fig. 2,
where the solid lines are for the stable solutions,
and the dashed lines are for the unstable solu-
tions. In Fig. 2(b), for a certain harmonic excita-
tion, with the increase of the constant force, it can
be observed that the resonant region moves to the
right, which implies that the constant force may
increase the primary resonance frequency of the sys-
tem. Besides, the resonance curve may change from
having a purely hardening characteristic to having
a purely softening characteristic through the coex-
istence of the hardening and softening characteris-
tics as the constant force increases from F0 = 0.25
to F0 = 0.7, and the resonant peak value of the
harmonic term of response decreases slightly. In
Fig. 2(a), however, with the increase of the constant
force, the frequency-response curve of the constant
term moves up significantly on the whole, and the
value of the constant term decreases in the resonant
region, which is an opposite trend of the amplitude
of the harmonic term. Nevertheless, the bending
directions of the resonance curves for the constant
term and the amplitude of the harmonic term are
consistent with each other.
2.6. Verification of the theoretical
results
In this section, the direct numerical simulations
of Eq. (1) are carried out to confirm the theo-
retical results. The comparisons of the theoretical
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L. Hou et al.

0.45 0.7
F 0 =0.25
0.4 F 0 =0.35
0.6
F 0 =0.45

0.35 F 0 =0.55
0.5 F 0 =0.7

0.3
0.4
A0

A1
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0.25
0.3
0.2
F 0 =0.25
0.2
0.15 F 0 =0.35
F 0 =0.45
F 0 =0.55 0.1
0.1
F 0 =0.7

0.05 0
1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8
Int. J. Bifurcation Chaos 2019.29. Downloaded from www.worldscientific.com

ω ω

(a) (b)
Fig. 2. Frequency-response curves of the system for F1 = 0.015: (a) for the constant terms and (b) for the amplitude of
harmonic terms. Solid lines for stable solutions, dashed lines for unstable solutions.

(a) 0.6 (b) 0.6

0.5 0.5

0.4 0.4
A1

A1

0.3 0.3

0.2 0.2

0.1 0.1

0 0
1.2 1.3 1.4 1.5 1.3 1.4 1.5 1.6

(c) 0.6 (d) 0.6

0.5 0.5

0.4 0.4
A1

A1

0.3 0.3

0.2 0.2

0.1 0.1

0 0
1.4 1.5 1.6 1.7 1.5 1.6 1.7 1.8

Fig. 3. Comparison of the theoretical results with the numerical simulation results for (a) F0 = 0.25, (b) F0 = 0.45,
(c) F0 = 0.55 and (d) F0 = 0.7. Solid lines for stable solutions of theoretical results, dashed lines for unstable solutions of
theoretical results, hollow dots for numerical results.

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Bifurcation Modes of Periodic Solution in a Duffing System

results with the numerical simulation results for 9γ 2 Y 3 + 72γ 2 XY 2 + 144γ 2 X 2 Y

F0 = 0.25, F0 = 0.45, F0 = 0.55 and F0 = 0.7
when F1 = 0.015 are shown in Fig. 3. For sim- + 24γ(1 − λ)Y 2 + 96γ(1 − λ)XY
plicity, only harmonic terms are presented in the
+ 16(1 − 2λ + 4ξ 2 λ + λ2 )Y − 16ε2 = 0.
frequency-response curves. It can be concluded that
the numerical simulation results are in agreement (17b)
with the theoretical results from the qualitative per- Taking λ as the bifurcation parameter, and tak-
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spective. For F0 = 0.25, the numerical simulation
results basically match with the stable solutions of
theoretical results. With the increase of the con-
stant force, the numerical simulation results match
well with the theoretical results in nonresonance
regions, but the dislocation of resonant frequency
is created. Generally, it seems that the theoreti-
cal results may enlarge the nonlinear characteris-
tics of the system in comparison with the numeri-
Int. J. Bifurcation Chaos 2019.29. Downloaded from www.worldscientific.com
ing 1 and 2 as the unfolding parameters, the left
sides of Eq. (17) can be viewed as an engineering
unfolding of the discussed bifurcation system, which
is denoted as
G1 = 4γ 2 X 3 + 12γ 2 X 2 Y + 9γ 2 XY 2
+ 8γX 2 + 12γXY + 4X − 4ε1 , (18a)
G2 = 9γ 2 Y 3 + 72γ 2 XY 2 + 144γ 2 X 2 Y

cal simulation results. Consequently, the theoretical

results are more convenient for nonlinear character- + 24γ(1 − λ)Y 2 + 96γ(1 − λ)XY
istics analysis and bifurcation investigations of the
system. + 16(1 − 2λ + 4ξ 2 λ + λ2 )Y − 16ε2 . (18b)

Furthermore, the derivatives of G1 and G2 can

3. Bifurcation Investigation be obtained as follows
The bifurcations being dependent on system param- G1X = 12γ 2 X 2 + 24γ 2 XY + 9γ 2 Y 2
eters can be analyzed in detail based on Eq. (5).
Since X and Y are coupled in the bifurcation equa- + 16γX + 12γY + 4, (19a)
tions, the two-state variable singularity method
G1XX = 24γ 2 X + 24γ 2 Y + 16γ, (19b)
[Qin & Chen, 2010; Qin et al., 2012] should be cho-
sen to carry out the bifurcation investigation. G1Y = 12γ 2 X 2 + 18γ 2 XY + 12γX, (19c)
According to the concept of engineering unfold-
ing [Hou et al., 2015b; Hou & Chen, 2015], which is G1XY = 24γ 2 X + 18γ 2 Y + 12γ, (19d)
a surrogate of universal unfolding, it can be taken
G1λ = 0, (19e)
directly from the bifurcation equations. In compar-
ison with the universal unfolding, this approach is G2X = 72γ 2 Y 2 + 288γ 2 XY
not so rigorous in the mathematical sense, but it
has a great significance for engineering applications. + 96γ(1 − λ)Y, (19f)
Besides, we would like to take the constant force G2XY = 144γ 2 Y + 288γ 2 X
and the amplitude of harmonic excitation directly
as the unfolding parameters, and take the frequency + 96γ(1 − λ), (19g)
of harmonic excitation directly as the bifurcation
parameter so that the system bifurcations affected G2Y = 27γ 2 Y 2 + 144γ 2 XY + 144γ 2 X 2
by these parameters that we care most in engineer- + 48γ(1 − λ)Y + 96γ(1 − λ)X
ing design can be reflected directly and exactly.
+ 16(1 − 2λ + 4ξ 2 λ + λ2 ), (19h)
3.1. Derivation of transition sets G2Y Y = 54γ 2 Y + 144γ 2 X + 48γ(1 − λ), (19i)
Taking the substitution λ = ω2,
1 = F 20 ,
2 = F 21
G2λ = −24γY 2 − 96γXY
for Eq. (5), the following equations can be obtained
+ 32(−1 + 2ξ 2 + λ)Y. (19j)
2 3 2 2 2 2 2
4γ X + 12γ X Y + 9γ XY + 8γX
According to the two-state variable singular-
+ 12γXY + 4X − 4ε1 = 0, (17a) ity method [Qin & Chen, 2010], the calculation

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L. Hou et al.

formulas of the transition sets for Eq. (17) are as follows:

Bifurcation set:
⎧  ⎫
⎪  ∃(X, Y, γ) s.t. G1 = 0, G2 = 0,⎪
⎨  ⎬

B = (ε1 , ε2 ) ∈ R2  G1X G2Y − G1Y G2X = 0, . (20)
⎪
⎩  ⎪
⎭
 G1X G2λ − G1λ G2X = 0
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Hysteresis set:
⎧  ⎫
⎪  ∃(X, Y, λ) s.t. G1 = 0, G2 = 0, G1X G2Y − G1Y G2X = 0, ⎪
⎪
⎪  ⎪
⎪
⎪
⎨    ⎪
⎬

2
G 1X A − G1Y B = 0, G 1X f 2 − G2X f 1 = 0, Ż 
= 0, Ż = (Ẋ, Ẏ ),
H = (ε1 , ε2 ) ∈ R  . (21)
⎪
⎪  f = (G Ẋ 2 + 2G Ẋ Ẏ + G Ẏ 2 ), ⎪
⎪
⎪
⎪ 
1 1XX 1XY 1Y Y ⎪
⎪
⎩  ⎭
f2 = (G2XX Ẋ 2 + 2G2XY Ẋ Ẏ + G2Y Y Ẏ 2 )
Double limit set:
⎧  ⎫
Int. J. Bifurcation Chaos 2019.29. Downloaded from www.worldscientific.com

⎪  ∃(Z1 , Z2 , λ) s.t. G1 = 0, G2 = 0, ⎪
⎨  ⎬

DL = (ε1 , ε2 ) ∈ R2  G1X G2Y − G1Y G2X = 0, . (22)
⎪
⎩  ⎪
⎭
 Z1 =  Z2 , Z = (X, Y )

Accordingly, the transition sets for primary res-

onance can be obtained by numerical calculations. H1, DL1 and DL2 are nearly straight lines. Then
the parameter plane is divided into six regions by
3.2. Classification of bifurcation the four transition set lines, each of the parameter
modes regions corresponds to a certain bifurcation mode.
Therefore, six different modes of bifurcations can
Through the above-mentioned calculation process,
be obtained, the corresponding frequency-response
the transition sets for primary resonance containing
curves are shown in Figs. 5–10. Besides, seven crit-
two hysteresis set lines (namely H1 and H2) and
ical cases of frequency-response curves for parame-
two double limit set lines (namely DL1 and DL2)
ters on the transition set lines separating different
are obtained in the parameter plane of F0 –F1 for F0
regions are shown in Figs. 11–17.
from 0 to 0.8 and F1 from 0 to 0.08, as shown in
In Fig. 5, it is shown that the frequency-
Fig. 4. It can be seen that H2 is a bent line, while
response curves of the system for parameters of
region I in Fig. 4 have a nearly linear character-
0.08
F istic. In Fig. 6, the frequency-response curves for
H1 parameters of region II have a softening character-
0.07 H2
DL1 istic with the resonant curves bending to the left
DL2
0.06 side. In Fig. 7, for parameters of region III, the res-
onant curves bend first to the left side and then
0.05
to the right side, thus a coexistence of the harden-
ing and softening characteristics with double hys-
F1

0.04
VI V IV teresis phenomena is observed, in which, the fre-
0.03 quency region for the hysteresis phenomenon of the
hardening characteristic is completely covered by
0.02 III D
that of the softening characteristic, and there are
0.01 B C
II
maximally five periodic solutions (three stable ones
A I
E and two unstable ones) for a certain excitation fre-
0 quency. In Fig. 8, for parameters of region IV, the
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
F0
hysteresis region for the hardening characteristic is
broadened while that for the softening characteris-
Fig. 4. Transition sets of the system for primary resonance. tic is narrowed, thus there is only a partial overlap

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Bifurcation Modes of Periodic Solution in a Duffing System

0.22 0.25

0.2
0.21

0.15
A0

A1
0.2
0.1
by THE UNIVERSITY OF WESTERN ONTARIO on 12/10/19. Re-use and distribution is strictly not permitted, except for Open Access articles.

0.19
0.05

0.18 0
1.1 1.15 1.2 1.25 1.3 1.1 1.15 1.2 1.25 1.3
ω ω

(a) (b)
Fig. 5. Frequency-response curves for parameters of region II in Fig. 4 (e.g. F0 = 0.25, F1 = 0.005): (a) for the constant
Int. J. Bifurcation Chaos 2019.29. Downloaded from www.worldscientific.com

terms and (b) for the amplitude of harmonic terms.

0.35 0.4

0.3
A0

A1

0.3 0.2

0.1

0.25 0
1.4 1.45 1.5 1.55 1.6 1.4 1.45 1.5 1.55 1.6
ω ω

(a) (b)
Fig. 6. Frequency-response curves for parameters of region II in Fig. 4 (e.g. F0 = 0.5, F1 = 0.01): (a) for the constant terms
and (b) for the amplitude of harmonic terms. Solid lines for stable solutions, dashed lines for unstable solutions.

0.45 0.7

0.6
0.4
0.5
0.35 0.4
A0

A1

0.3 0.3

0.2
0.25
0.1

0.2 0
1.5 1.6 1.7 1.8 1.5 1.6 1.7 1.8
ω ω

(a) (b)
Fig. 7. Frequency-response curves for parameters of region III in Fig. 4 (e.g. F0 = 0.7, F1 = 0.02): (a) for the constant terms
and (b) for the amplitude of harmonic terms. Solid lines for stable solutions, dashed lines for unstable solutions.

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L. Hou et al.

0.4 0.8

0.35
0.6
0.3
A0

A1
0.25 0.4
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0.2
0.2
0.15

0.1 0
1.4 1.5 1.6 1.7 1.8 1.4 1.5 1.6 1.7 1.8
ω ω

(a) (b)
Fig. 8. Frequency-response curves for parameters of region IV in Fig. 4 (e.g. F0 = 0.6, F1 = 0.025): (a) for the constant
Int. J. Bifurcation Chaos 2019.29. Downloaded from www.worldscientific.com

terms and (b) for the amplitude of harmonic terms. Solid lines for stable solutions, dashed lines for unstable solutions.

0.3 0.7

0.6
0.25
0.5

0.4
A0

A1

0.2
0.3

0.2
0.15
0.1

0.1 0
1.3 1.4 1.5 1.6 1.3 1.4 1.5 1.6
ω ω

(a) (b)
Fig. 9. Frequency-response curves for parameters of region V in Fig. 4 (e.g. F0 = 0.4, F1 = 0.02): (a) for the constant terms
and (b) for the amplitude of harmonic terms. Solid lines for stable solutions, dashed lines for unstable solutions.

0.25 0.7

0.6
0.2
0.5

0.4
A0

A1

0.15
0.3

0.2
0.1
0.1

0.05 0
1 1.2 1.4 1.6 1 1.2 1.4 1.6
ω ω

(a) (b)
Fig. 10. Frequency-response curves for parameters of region II in Fig. 4 (e.g. F0 = 0.3, F1 = 0.02): (a) for the constant terms
and (b) for the amplitude of harmonic terms. Solid lines for stable solutions, dashed lines for unstable solutions.

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Bifurcation Modes of Periodic Solution in a Duffing System

0.18 0.25

0.2
0.17

0.15
A0

A1
0.16
0.1
by THE UNIVERSITY OF WESTERN ONTARIO on 12/10/19. Re-use and distribution is strictly not permitted, except for Open Access articles.

0.15
0.05

0.14 0
1.1 1.15 1.2 1.25 1.3 1.1 1.15 1.2 1.25 1.3
ω ω

(a) (b)
Fig. 11. Frequency-response curves for parameters of line H1 for part AB in Fig. 4 (e.g. F0 = 0.2, F1 = 0.005): (a) for the
constant terms and (b) for the amplitude of harmonic terms.
Int. J. Bifurcation Chaos 2019.29. Downloaded from www.worldscientific.com

0.28 0.35

0.3
0.26
0.25
0.24 0.2
A0

A1

0.22 0.15

0.1
0.2
0.05

0.18 0
1.2 1.25 1.3 1.35 1.4 1.2 1.25 1.3 1.35 1.4
ω ω

(a) (b)
Fig. 12. Frequency-response curves for parameters of line H1 for part BC in Fig. 4 (e.g. F0 = 0.33, F1 = 0.0086): (a) for
the constant terms and (b) for the amplitude of harmonic terms. Solid lines for stable solutions, dashed lines for unstable
solutions.

0.4 0.5

0.4
0.35

0.3
A0

A1

0.3
0.2

0.25
0.1

0.2 0
1.4 1.5 1.6 1.7 1.8 1.4 1.5 1.6 1.7 1.8
ω ω

(a) (b)
Fig. 13. Frequency-response curves for parameters of line H1 for part CD in Fig. 4 (e.g. F0 = 0.6, F1 = 0.0147): (a) for
the constant terms and (b) for the amplitude of harmonic terms. Solid lines for stable solutions, dashed lines for unstable
solutions.

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L. Hou et al.

0.345 0.12

0.1

0.34 0.08
A0

A1
0.06
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0.335 0.04

0.02

0.33 0
1.5 1.52 1.54 1.56 1.58 1.6 1.5 1.52 1.54 1.56 1.58 1.6
ω ω

(a) (b)
Fig. 14. Frequency-response curves for parameters of line H2 for part BE in Fig. 4 (e.g. F0 = 0.5, F1 = 0.0034): (a) for the
Int. J. Bifurcation Chaos 2019.29. Downloaded from www.worldscientific.com

constant terms and (b) for the amplitude of harmonic terms.

0.3 1

0.25
0.8

0.2
0.6
A0

A1

0.15
0.4
0.1

0.2
0.05

0 0
1 1.2 1.4 1.6 1.8 2 1 1.2 1.4 1.6 1.8 2
ω ω

(a) (b)
Fig. 15. Frequency-response curves for parameters of line H2 for part BF in Fig. 4 (e.g. F0 = 0.4, F1 = 0.036): (a) for the
constant terms and (b) for the amplitude of harmonic terms. Solid lines for stable solutions, dashed lines for unstable solutions.

0.4 0.7

0.6
0.35
0.5
0.3 0.4
A0

A1

0.25 0.3

0.2
0.2
0.1

0.15 0
1.4 1.5 1.6 1.7 1.8 1.4 1.5 1.6 1.7 1.8
ω ω

(a) (b)
Fig. 16. Frequency-response curves for parameters of line DL1 in Fig. 4 (e.g. F0 = 0.6, F1 = 0.195): (a) for the constant
terms and (b) for the amplitude of harmonic terms. Solid lines for stable solutions, dashed lines for unstable solutions.

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Bifurcation Modes of Periodic Solution in a Duffing System

0.35 0.8

0.3
0.6

0.25
A0

A1
0.4
by THE UNIVERSITY OF WESTERN ONTARIO on 12/10/19. Re-use and distribution is strictly not permitted, except for Open Access articles.

0.2

0.2
0.15

0.1 0
1.4 1.5 1.6 1.7 1.4 1.5 1.6 1.7
ω ω

(a) (b)
Int. J. Bifurcation Chaos 2019.29. Downloaded from www.worldscientific.com

Fig. 17. Frequency-response curves for parameters of line DL2 in Fig. 4 (e.g. F0 = 0.5, F1 = 0.0233): (a) for the constant
terms and (b) for the amplitude of harmonic terms. Solid lines for stable solutions, dashed lines for unstable solutions.

0.1 0.1
H1 F H1 F
H2 H2
0.08 0.08
DL1 DL1
DL2 DL2
0.06 0.06
F1

F1

VI V V
0.04 0.04 VI IV
IV
C III III
0.02 B D 0.02 C D
II B
A E A II E
I I
0 0
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
F0 F0

(a) (b)

0.1 0.1
H1 F H1 F
H2 H2
0.08 0.08
DL1 DL1
DL2 DL2
0.06 0.06
F1

F1

0.04 VI V IV 0.04 VI V IV

III III
0.02 D 0.02
B C D
A II E A B C II E
I I
0 0
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
F0 F0

(c) (d)
Fig. 18. Transition sets of the system for different values of nonlinear parameter: for (a) γ = 1, (b) γ = 2, (c) γ = 4 and
(d) γ = 8.

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L. Hou et al.

between the two frequency regions. In the over-
lap region, there are five periodic solutions (three
stable and two unstable) for a certain excitation
frequency. In Fig. 9, for parameters of region V,
the hysteresis regions for the hardening and soft-
ening characteristics are completely separated from
each other, thus the maximum number of periodic
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Moreover, Fig. 11 shows the critical case for
parameters of line AB (a part of H1) separating
region I for nearly linear case (see Fig. 5) and
region VI for hysteresis case of hardening charac-
teristic (see Fig. 10) in Fig. 4. Figure 12 shows the
critical case for parameters of line BC (a part of H1)
separating region II for only one hysteresis case of

solutions for a certain excitation frequency is only
three (two stable and one unstable). In Fig. 10 for
parameters of region VI, the hysteresis region for
the softening characteristic has faded away, leav-
ing only the hysteresis phenomenon of the hard-
ening characteristic. In addition, for all the above-
mentioned figures, namely Figs. 5–10, the change
of the value of the constant term is an opposite
trend of the amplitude of the harmonic term in
Int. J. Bifurcation Chaos 2019.29. Downloaded from www.worldscientific.com
softening characteristic (see Fig. 6) and region V
for two separated hysteresis cases of hardening and
softening characteristics (see Fig. 9). Figure 13
shows the critical case for parameters of line CD
(a part of H1) separating region II for only one hys-
teresis case of softening characteristic (see Fig. 6)
and region III for the case with a hysteresis region
of hardening characteristic in the hysteresis region
of softening characteristic (see Fig. 7). Figure 14

the resonant regions, but they lead to synchronous shows the critical case for parameters of line BE (a
jumps. part of H2) separating region I for nearly linear case

0.1 0.1
H1 F H1 F
H2 H2
0.08 0.08
DL1 DL1
DL2 DL2
0.06 0.06 IV
F1

F1

VI V
VI V III
0.04 IV 0.04 D
C
III B II
0.02 0.02
B C D E
A II E A
I
0 0
0 0.2 0.4 0.6 0.8 1 0 0.2 I 0.4 0.6 0.8 1
F0 F0

(a) (b)

0.1 0.1 IV
H1 F H1 F III
IV D
H2 H2 C
0.08 0.08 V
DL1 DL1
III
DL2 DL2
0.06 V D 0.06 B
C
F1

F1

VI II
VI B
0.04 0.04
II E
E A
0.02 A 0.02 I
I
0 0
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
F0 F0

(c) (d)
Fig. 19. Transition sets of the system for different values of damping ratio: for (a) ξ = 0.01, (b) ξ = 0.02, (c) ξ = 0.03 and
(d) ξ = 0.04.

1950173-14
 November 29, 2019 10:43
(see Fig. 5) and region II for hysteresis case of soft-
ening characteristic (see Fig. 6). Figure 15 shows
the critical case for parameters of line BF (a part of
H2) separating region V for two separated hysteresis
cases of hardening and softening characteristics (see
Fig. 9) and region VI for only one hysteresis case
of hardening characteristic (see Fig. 10). Figure 16
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shows the critical case for parameters of line DL1
separating region III for the case with the hysteresis
region of hardening characteristic completely cov-
ered by the hysteresis region of softening character-
istic (see Fig. 7) and region IV for the case with a
partial overlap between the two hysteresis regions
(see Fig. 8). Figure 17 shows the critical case for
parameters of line DL2 separating region IV for the
case with a partial overlap between the hysteresis
Int. J. Bifurcation Chaos 2019.29. Downloaded from www.worldscientific.com
regions of hardening and softening characteristics
(see Fig. 8) and region V for the case with no over-
lap between the two hysteresis regions (see Fig. 9).
3.3. Effect of the nonlinearity
parameter
In order to give an insight into the effect of the
degree of nonlinearity on the bifurcation modes of
the system, the transition sets of the system for
γ = 1, γ = 2, γ = 4 and γ = 8 when ξ = 0.01 are
shown in Fig. 18, from which it can be found that
with the increase of the nonlinear parameter, line
H1 moves down slightly, while lines H2, DL1 and
DL2 move significantly toward the lower left cor-
ner of the parameter plane. As a result, regions II,
III and IV are extended, region V is shifted left,
regions I and VI are reduced. Thus the pure soften-
ing characteristic and the coexistence of the hard-
ening and softening characteristics of the frequency-
response curves are easier to happen.
3.4. Effect of the damping ratio
The bifurcation modes of the system affected by the
damping ratio are discussed in detail in this sec-
tion. The transition sets of the system for ξ = 0.01,
ξ = 0.02, ξ = 0.03 and ξ = 0.04 when γ = 4
are shown in Fig. 19, from which it can be found
that with the increase of the damping ratio, line
H1 moves up significantly, especially when the con-
stant excitation gets larger, while lines H2, DL1 and
DL2 move toward the top right corner of the param-
eter plane, which takes on an opposite trend with
Fig. 18. As a result, region I is extended, regions III,
IV and V are reduced, while region II changes from
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WSPC/S0218-1274 1950173
Bifurcation Modes of Periodic Solution in a Duffing System
a long and narrow area to a short and broad one,
and region VI changes from a narrow and high area
to a broad and short one. Therefore, the softening
characteristic as well as the hardening characteris-
tic of the frequency-response curves are not easy to
happen, and the coexistence of the hardening and
softening characteristics is more difficult to happen.
4. Conclusions
In this paper, the bifurcation modes of a Duffing
system under the combined excitations of constant
force and harmonic excitation have been investi-
gated. The periodic solutions of the system have
been obtained by using the Harmonic Balance
method combined with the arc-length continuation,
their stabilities have been examined by employ-
ing the Floquet theory, and the theoretical results
have been verified through comparison with results
from the direct numerical simulations. Through
the frequency-response analysis, it has been shown
that as the constant force or the magnitude of the
harmonic excitation varies, the frequency-response
curve of the system may present different shapes,
implying different types of bifurcation modes. These
basic dynamical properties had also been discussed
in [Kovacic et al., 2008] for an asymmetric Duffing
oscillator with no linear stiffness term. Furthermore,
the two-state variable singularity method has been
employed to carry out the bifurcation mode investi-
gation, which is the key innovation of this paper. In
the parameter plane of F0 –F1 , the transition sets
involving two hysteresis set lines and two double
limit set lines have been obtained. Accordingly, the
parameter plane is divided into six regions, indi-
cating that there are a total of six different types
of bifurcation modes, which are respectively for
frequency-response curves: having a nearly linear
characteristic, having a pure softening characteris-
tic, having a coexistence of the hardening and soft-
ening characteristics with the frequency region of
the hardening characteristic completely covered by
that of the softening characteristic, having a coexis-
tence of the hardening and softening characteristics
with a partial overlap between the two hysteresis
regions, having two separated hysteresis regions of
hardening and softening characteristics, or having a
pure hardening characteristic. The results obtained
in this paper extend the findings in [Kovacic et al.,
2008], and contribute to a better understanding of
the significant influence of the constant force in non-
linear dynamical systems.
 November 29, 2019 10:43
L. Hou et al.
In addition, the bifurcation modes of the sys-
tem affected by the nonlinearity parameter and
the damping ratio have been discussed in detail.
It has been shown that the increase of the nonlin-
ear parameter contributes to extending the parame-
ter regions for the bifurcation modes corresponding
to the pure softening characteristic and the coexis-
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tence of the hardening and softening characteristics,
while the increase of the damping ratio contributes
to reducing them as well as the parameter region
for the hardening characteristic. In future works,
the experimental study will be conducted.
Acknowledgments
The authors would like to acknowledge the financial
Int. J. Bifurcation Chaos 2019.29. Downloaded from www.worldscientific.com
supports from National Natural Science Foundation
of China (Grant No. 11602070), National Key Basic
Research Program (973 Program) of China (Grant
No. 2015CB057400), China Postdoctoral Science
Foundation (Grant No. 2016M590277), and Hei-
longjiang Postdoctoral Financial Assistance (Grant
No. LBH-Z16067).
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