Accepted Manuscript Not Copyedited

Journal of Computational and Nonlinear Dynamics.
Received September 11, 2014;

Accepted manuscript posted March 12, 2015. doi:10.1115/1.4030028
Copyright (c) 2015 by ASME
Noname manuscript No.

(will be inserted by the editor)
New results to a 3D chaotic system with two different kinds

of non-isolated equilibria
Haijun Wang · Xianyi Li
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Received: date / Accepted: date
py
Abstract In the paper entitled by ‘A novel three-dimensional autonomous chaos sys-
tem’ published in [Chaos, Solitons and Fractals 39 (2009) 1950–1958], the authors
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investigated the 3D chaotic system ẋ = −ax − ey2 , ẏ = by − kxz, ż = −cz + mxy, and
discussed some of its dynamics according to theoretical and numerical analysis on-
ly for the parameters (a, e, b, k, c, m) = (1, 1, 2.5, 4, 5, 4). In 2013, the same chaotic
system x˙1 = −ax1 − f x2 x3 , x˙2 = cx2 − dx1 x3 , x˙3 = −bx3 + ex22 in [Optik 124 (2013)
1516–1522] was mainly discussed by numerical simulation.
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In this article, by some deeper investigations, combining some numerical simula-
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tions, we formulate some new results of the system. Firstly, after some problems in
the first paper are pointed out, we display that its parameters e, k, m may be kicked
out by some homothetic transformations. Secondly, some of its rich nonlinear dy-
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namics hiding and not found previously, such as the stability and Hopf bifurcation
of its isolated equilibria, the behavior of its non-isolated equilibria, the existence of
singular orbits (including singularly degenerate heteroclinic cycle, homoclinic and
sc
heteroclinic orbits, etc.) and its dynamics at infinity, etc, are clearly formulated.
What’s more interesting, we find, this system has two different kinds of non-
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isolated equilibria Ex and Ez , and new chaotic attractors can be bifurcated out with
the disappearance of Ex but this system has no such properties at Ez . In the meantime,
several problems about the existence of singular orbits deserving further investiga-
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tions are presented. Our results better complement and improve the known ones.
Keywords Hopf bifurcation · singularly degenerate heteroclinic cycle · homoclinic

and heteroclinic orbit · Poincaré compactification
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H. Wang Corresponding author.

College of Mathematical Science, Yangzhou University, Yangzhou 225002, People’s Republic of China
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E-mail: mathchaos@126.com
X. Li ·
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College of Mathematical Science, Yangzhou University, Yangzhou 225002, People’s Republic of China
E-mail: mathxyli@yzu.edu.cn
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Downloaded From: http://computationalnonlinear.asmedigitalcollection.asme.org/ on 03/30/2015 Terms of Use: http://asme.org/terms

Journal of Computational and Nonlinear Dynamics. Received September 11, 2014;
2 Haijun Wang, Xianyi Li
1 Introduction
Chaos, which stems from nonlinear systems [1], is known due to its distinct prop-
erties such as deterministicness, unpredictability and extremely sensitive dependence
on initial conditions and so on. Chaos, as a kind of nonlinear phenomenon, also exists
extensively in nature. So researchers in various fields often encounter some problems
from it. On the one hand, one requires chaos in some real world applications, such as
cryptology [2], fluid mixing [3], forecast [4] and so on; on the other hand, chaos is
undesirable and should be weakened or eliminated for many types of technique, for
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example, for chaos control [5].
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In 1963, Lorenz discovered the first chaotic system consisting of three autonomous
differential equations, which is called the Lorenz system [6] later. Inspired by it,
many chaotic systems closely related to the Lorenz system have been reported, such
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as Rössler system [7], Chen system [8], Liu system [9], other systems [10–17], etc.
Furthermore, the dynamics of these chaotic systems has been mathematically ex-
py
plored, such as the theory of stability and bifurcation, numerical simulation, circuitry
implementation and so on.
Up to now, however, the forming mechanism of chaos is not very clear, so, one
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continues to pay more attention to this aspect. Accordingly, one not only needs to
find some new chaotic systems to explain the forming mechanism of chaos, but also
should study such system comprehensively as well as one could. In view of this ar-
gument, the authors in [17] proposed and considered the following 3D autonomous
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chaos system 
 ẋ = −ax − ey2 ,
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ẏ = by − kxz, (1)

ż = −cz + mxy,
where (a, e, b, k, c, m) ∈ R6 .
rip
In 2013, Li et al. [18] introduced the following 3D chaotic system


 x˙1 = −ax1 − f x2 x3 ,
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x˙2 = cx2 − dx1 x3 , (2)


x˙3 = −bx3 + ex22 ,
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where (a, f , c, d, b, e) ∈ R6 , thought system (2) to be a novel system, and mainly by

numerical simulation considered its dynamics, including the chaotic phase portraits,
Poincaré mapping, bifurcation diagram, Lyapunov exponent spectrum versus param-
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eters, nonlinear amplitude adjuster, phase reversal, and modulation factor, etc.
Nevertheless, one can evidently see that system (2) is just another form of system
(1). Hence, system (2) is not a new system at all.
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In addition, the authors of [17] only considered system (1) from the point of view
of its local behavior as well as the forming mechanism of its compound structure only
for the parameter vector (a, e, b, k, c, m) = (1, 1, 2.5, 4, 5, 4) and the initial condition
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(x0 , y0 , z0 ) = (0.2, 0, 0.5). Precisely, the authors [17] mainly derived the following
results.
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Result 1.1 ([17], pp. 1951–1952).System (1) has five equilibria O(0, 0, 0), E1 =
(−1.25, −1.118, −0.559), E2 = (−1.25, 1.118, 0.559), E3 = (1.25, −1.118, 0.559)
and E4 = (1.25, 1.118, −0.559), and all of them are saddle focus-nodes.
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New results to a 3D chaotic system with two different kinds of non-isolated equilibria 3
Result 1.2 ([17], pp. 1952–1955). Some of other dynamical properties of system
(1), such as Lyapunov exponents, Poincaré mapping, fractal dimension, continuous
spectrum, chaotic behaviors of this new transverse butterfly attractor and dissipativ-
ity, were obtained, combining numerical simulation.
Result 1.3 ([17], pp. 1955–1958). By introducing a control parameter e into the
second equation of system (1), the forming mechanism for compound structure of
system (1) was explored. Furthermore, the butterfly attractors reported is a compound
structure obtained by merging together two simple attractor after performing one
mirror operation.
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Although there has been some good work for system (1) in [17], the following
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problems still exist in that paper.
1. Result 1.1 is not precise. In fact, when (a, e, b, k, c, m) = (1, 1, 2.5, 4, 5, 4), the
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two equilibria E3 and E4 do not exist at all. It is impossible for system (1) to have five
equilibria.
2. System (1) was considered only when the parameters take (a, e, b, k, c, m) =
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(1, 1, 2.5, 4, 5, 4). What kind of dynamical properties does it possess when the param-
eters take other values? Up to now, there are no answers.
3. Are there singular orbits of system (1)? Such as the singularly degenerate hete-
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roclinic cycle, homoclinic and heteroclinic orbit, infinite heteroclinic orbit, etc. How
about its dynamics at infinity? These properties are actually important and difficult to
be solved.
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Although some properties closely related to chaos phenomena in system (1) have
been by simulations found in [17] and [18], one still hopes to see their strict theoreti-
cal verifications, because one has noticed that numerical evidences may occasionally
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mislead [19] in the reason that computer simulations have finite precision and ex-
perimental measurements have finite ranges in the time or frequency domain [20].
We find that, however, fewer strict theoretical results exist for system (1) in known
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literatures up to now.
Therefore, the problems mentioned above sufficiently display that system (1) is
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only paid part attention. Thereout, system (1) deserves further studies.
Although system (1) only has one multiplier and two quadratic terms, it possesses
some interesting and fascinating properties. Indeed, in this paper, by further deep in-
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vestigations, these properties hiding and not found previously in the known literature,
such as
1) the existence of non-isolated equilibria Ex = (x, 0, 0) or Ez = (0, 0, z),
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2) the existence of infinitely many singularly degenerate heteroclinic cycles,

3) the existence of homoclinic and heteroclinic orbits,
4) the dynamics at infinity,
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5) the existence of infinite heteroclinic orbit, etc.

are clearly dug out.
Our results give an all-round perspective of system (1) as more as possible. First
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of all, we point out that some parameters of system (1) may be killed by different
homothetic transformations. Indeed, according to the parameters (e, k, m) ∈ R3 , one
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can divide the following three cases.

Case 1: ekm = 0. Then system (1) may be reduced into some trivial 2D systems,
which need not be discussed here. Hence, in the sequel one assumes ekm ̸= 0.
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Case 2: mk < 0. Then the case may be divided into the following two subcases.
Subcase 1): e > 0. Then by the following homothetic transformation
√ √ √ √
√ √ −mk e −mk
X = −mkx, Y = e −mky, Z = z,
m
system (1) is converted into

 Ẋ = −aX −Y 2 ,
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Ẏ = bY + XZ, (3)

Ż = −cZ + XY.
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Subcase 2): e < 0. Then, by the transformation
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√ √ √ √
√ √ −mk −e −mk
u = −mkx, v = −e −mky, w= z,
m
py
system (1) is converted into 
 u̇ = −au + v2 ,
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v̇ = bv + uw, (4)

ẇ = −cw + uv.
Case 3: mk > 0. Then, two subcases are considered as follows.
Subcase 1): e > 0. Then, the homothetic transformation ot
√ √ √ √
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√ √ mk e mk
X = mkx, Y = e mky, Z = z,
m
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changes system (1) into 

 Ẋ = −aX −Y 2 ,
Ẏ = bY − XZ, (5)

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Ż = −cZ + XY.
Subcase 2): e < 0. Then the transformation
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√ √ √ √
√ √ mk −e mk
u = mkx, v = −e mky, w= z,
m
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converts system (1) to 

 u̇ = −au + v2 ,
v̇ = bv − uw, (6)

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ẇ = −cw + uv.
It is easy to see that systems (3) and (5) respectively are topologically equivalent
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to systems (4) and (6) under the transformation X = −u, Y = −v, Z = w.

With a great many times of numerical simulation, we find that the solutions of
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system (3) or (4) tend to infinity. So we need not consider both of them at this time. As
for system (5) or (6), both of them have chaotic behavior [17]. Due to the equivalence
between systems (5) and (6), it suffices for us to consider system (5). For writing
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convenience, still write variables X, Y and Z with x, y and z, respectively. Namely, in

the sequel, we consider the dynamics of the following system

 ẋ = −ax − y2 ,
ẏ = by − xz, (7)

ż = −cz + xy,
where a, b, c ∈ R, and which is just system (1) with e, k, m kicked out.
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Remark 1 For those readers who are interested in the physical background of system
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(7), refer to the statements in the two papers [17, 18].
In fact, since the pioneer work for the study of chaos given by E. N. Lorenz in
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1963, the investigations into chaos are mainly focused on two aspects; the one is to
construct some new and interesting chaotic systems; the other is to study the rich
dynamics of those existing systems, mainly for the stability of equilibrium point,
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various bifurcations, homoclinic and heteroclinic orbits, singularly degenerate hete-
roclinic cycles, etc.
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The authors in [17, 18] mainly presented some new systems and simply analyzed
their properties. By analyzing and transforms, we find that those two systems actually
are the same system (7). We here mainly further theoretically formulate some new
dynamical results of the system (7).
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Remark 2 The homothetic transformation we use above is in fact a kind of skill for
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classical normal form approach.
Our main aim in this article is, by some deeper investigations, and combining
some numerical simulations, to formulate some new theoretical results of system (7),
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mainly for its Hopf bifurcation, singular orbits and dynamics at infinity.
The rest of this paper is organized as follows. The local behaviors of system (7),
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such as the distribution of equilibrium points and their stability and bifurcation, are
discussed in Section 2. In Section 3, we explore the existence of some important sin-
gular orbits, including the singularly degenerate heteroclinic cycles, the homoclinic
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and heteroclinic orbits with the technique of numerical simulation. The dynamics at
infinity of system (7) is given in Section 4. Finally, some conclusions are drawn in
Section 5.
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2 Local behaviors of system (7)

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In this section one will consider the local behaviors of system (7) according to
the following subsections.
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2.1 Distribution of equilibrium point of system (7)
By some simple analysis, one can easily derive the following conclusion.
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Table 1 The distribution of equilibrium of system (7).
a b c distribution of equilibrium
=0 ̸= 0 non-isolated Ex = (x, 0, 0)
=0 non-isolated Ex = (x, 0, 0) or Ez = (0, 0, z)
=0 =0 non-isolated Ez = (0, 0, z)
=0 ̸= 0 unique E0 = (0, 0, 0)
̸= 0 ̸= 0 =0 non-isolated Ez = (0, 0, z)
̸= 0 bc < 0 unique E0 = (0, 0, 0) √ √
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a2 bc
̸= 0 bc > 0 E0 = (0, 0, 0) and E± = (− a ,±
4 a2 bc, ∓ √ab )
4 a2 bc
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Theorem 1 The distribution of equilibrium of system (7) is described in the Table 1
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when the parameters a, b, c vary in R3 .
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Remark 3 It follows from Theorem 1 that the phenomenon of pitchfork bifurcation
for system (7) occurs when the parameters a, b, c ∈ {(a, b, c) ∈ R3 |a ̸= 0, bc = 0}.
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2.2 Behaviors of E0
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By linearized analysis and the center manifold theory, one can easily derive the
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following statements about the local behaviors of E0 .
Theorem 2 The local behaviors of equilibrium E0 of system (7) are totally summa-
rized in the Table 2 when a, b, c ∈ R3 .
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2.3 Behaviors of non-isolated equilibria

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In this subsection, one studies the dynamics of both non-isolated equilibria Ex

and Ez .
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2.3.1 Behaviors of Ex
When a = 0, system (7) has√non-isolated equilibria Ex = (x, 0, 0) (for any x ∈ R)

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(b−c)± (b−c)2 +4(bc−x2 )

with eigenvalues λ1,2 = 2 and λ3 = 0. It is easy to see that the
following conclusion holds.
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Theorem 3 Assume that a = 0. Then system (7) has non-isolated equilibria Ex =

ce
(x, 0, 0) for any x ∈ R. Moreover, the local dynamical behaviors of any one are sum-
marized in the Table 3.
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Table 2 The local behavior of equilibrium E0 of system (7).
a b c Type of E0 Property of E0
<0 <0 saddle–node s and a 2D W u
a 1D Wloc loc
<0 =0 non–hyperbolic s , a 1D W c and a 1D W u
a 1D Wloc loc loc
<0 >0 saddle–node s and a 1D W u
a 2D Wloc loc
=0 <0 non–hyperbolic u u
a 1D Wloc and a 2D Wloc
<0 =0 =0 non–hyperbolic c and a 1D W u
a 2D Wloc loc
=0 >0 non–hyperbolic s , a 1D W c and a 1D W u
a 1D Wloc loc loc
>0 <0 u
d
node a 3D Wloc
>0 =0 non–hyperbolic c and a 2D W u
a 1D Wloc loc
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>0 >0 saddle–node s and a 2D W u
a 1D Wloc loc
<0 <0 s , a 1D W c and a 1D W u

a 1D Wloc loc loc
<0 =0 s and a 2D W c
a 1D Wloc
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loc
<0 >0 s and a 1D W c
a 2D Wloc loc
=0 <0 c and a 1D W u
a 2D Wloc loc
=0 =0 =0 non–hyperbolic c
a 3D Wloc
py
=0 >0 s and a 2D W c
a 1D Wloc loc
>0 <0 c and a 2D W u
a 1D Wloc loc
>0 =0 c and a 1D W u
a 2D Wloc loc
>0 >0 s c u
a 1D Wloc , a 1D Wloc and a 1D Wloc
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<0 <0 saddle–node s and a 1D W u
a 2D Wloc loc
<0 =0 non–hyperbolic s and a 1D W c
a 2D Wloc loc
<0 >0 node s
a 3D Wloc
=0 <0 s c u
>0 =0
=0
=0
>0
non–hyperbolic
non–hyperbolic
non–hyperbolic
s and a 2D W c
a 1D Wloc
s and a 1D W c
a 2D Wloc
loc
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loc
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>0 <0 saddle–node s
a 1D Wloc and a 2D Wlocu
>0 =0 non–hyperbolic s c u
>0 >0 saddle–node s
a 2D Wloc and a 1D Wlocu
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Table 3 The behavior of non-isolated equilibria Ex of system (7).
b−c bc − x2
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Property of Ex
s c
<0 a 2D Wloc and a 1D Wloc
s c
<0 =0 a 1D Wloc and a 2D Wloc
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s c u
>0 a 1D Wloc , a 1D Wloc and a 1D Wloc
<0 fold–Hopf bifurcation occurs

c
=0 =0 a 3D Wloc
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s c u
c u
c u
>0 =0 a 2D Wloc and a 1D Wloc
s c u
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ce
Ac

Table 4 The behavior of non-isolated equilibria Ez of system (7).
a b Property of Ez
s c u
<0 a 1D Wloc , a 1D Wloc and a 1D Wloc
c u
<0 =0 a 2D Wloc and a 1D Wloc
c u
>0 a 1D Wloc and a 2D Wloc
s c
c
=0 =0 a 3D Wloc
c u
>0 a 2D Wloc and a 1D Wloc
d
s c
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s c
>0 =0 a 1D Wloc and a 2D Wloc
s c u
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2.3.2 Behaviors of Ez
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Similarly, one finds that, system (7) has the non-isolated equilibria Ez = (0, 0, z)
for any z ∈ R with the eigenvalues λ1 = −a, λ2 = b and λ3 = 0 when c = 0. Therefore,
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one may derive the following consequence.
Theorem 4 Assume that c = 0. Then system (7) has non-isolated equilibria Ez . More-
over, the local dynamical behaviors of any one are formulated in the Table 4.
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Remark 4 Notice that Ex and Ez are two different kinds of non-isolated equilibria.
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Comparing the dynamics of Ex and Ez from Table 3 and Table 4, one finds that the
dynamics of the former Ex is related to the value of x while the dynamics of the latter
Ez has nothing to do with the value of z. According to the analysis in Section 3 in the
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sequel, system (7) has infinitely many singularly degenerate heteroclinic cycles when
Ex appears and new chaotic attractors are branched off with the disappearance of Ex ,
whereas has no such properties at Ez . This is an interesting phenomenon!
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2.4 Behaviors of E±
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According to the symmetry of E+ and E− of system (7), it is sufficient to study

the behavior of E+ . The characteristic equation associated with the equilibria E+ is
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λ 3 + (a − b + c)λ 2 + a(b + c)λ + 4abc = 0. (8)
Notice that the parameters a, b and c belong to the set S = {(a, b, c) ∈ R3 |a2 bc > 0}.
ed
For convenience of discussion in the sequel, now define the sets S1 and S2 as follows:
S1 = {(a, b, c) ∈ S : a < 0, bc > 0}, S2 = {(a, b, c) ∈ S : a > 0, bc > 0}.

pt
Then S = S1 ∪ S2 . The set S2 can be further written as S2 = S21 ∪ S22 ∪ S23 . Thereinto,
ce
S21 = {(a, b, c) ∈ S2 : b > 0, c > 0, a − b + c > 0},

S22 = {(a, b, c) ∈ S2 : b > 0, c > 0, a − b + c ≤ 0},
S23 = {(a, b, c) ∈ S2 : b < 0, c < 0}.
Ac

1 , S2 , S3 , S4 of S as
Further define the subsets S21 21 21 21 21
1 = {(a, b, c) ∈ S : a < b2 −c2 +4bc

S21 21 b+c },
2 = {(a, b, c) ∈ S : a = b2 −c2 +4bc ∆
S21 21 b+c = a0 },
3 = {(a, b, c) ∈ S : a > b2 −c2 +4bc
S21 21 b+c > 0},
4 = {(a, b, c) ∈ S : b2 −c2 +4bc
S21 21 b+c ≤ 0}.
d
ite
Then, by the Routh-Hurwitz criterion, it is easy to get the following results.
Theorem 5 E+ is unstable for (a, b, c) ∈ S1 ∪ S22 ∪ S23 ∪ S21

1 whereas it is asymptot-
ed
ically stable for (a, b, c) ∈ S21 ∪ S21 .
3 4
py
2.5 Hopf bifurcation of E±
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From the above Theorem 5, one can see that there will be bifurcation occurrence
for (a, b, c) ∈ S21
2 . Then, what kinds of bifurcations are they? How about their sta-
bility? In this section, one will answer these questions. One first has the following
lemma.
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Lemma 1 For (a, b, c) ∈ S21 2 , system (7) undergoes a Pioncaré–Andronov–Hopf bi-
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furcation bifurcation (or simply a Hopf bifurcation) at E+ .
2 , it follows that Eq. (8) has one negative real root λ = − 4bc
Proof For (a, b, c) ∈ S21
√ 1
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b+c
and a pair of conjugate purely imaginary roots λ2,3 = ±ω0 i with ω0 = b2 − c2 + 4bc.
Taking into account that Re(λ2 ) = 0 at a = a0 , one obtains
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dRe(λ2 ) [b2 − c2 + 4bc](b + c)2

=− < 0.
da a=a0 2[b2 − c2 + 4bc](b + c)2 + 32b2 c2
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The above inequality reads that, for (a, b, c) ∈ S21

2 , the transversal condition always
holds. Also, Re(λ1 ) = λ1 < 0. Therefore, all conditions for Hopf bifurcation [21] to
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occur are met. Consequently, a Hopf bifurcation happens at E+ .

The proof for this lemma is over.
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Next, one studies the stability of the periodic orbit bifurcated from E+ for the
2 by using the Projection Method in [21]. The following statements
parameter in S21
hold.
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Lemma 2 Consider system (7) with (a, b, c) ∈ S21

2 . Then the first Lyapunov coefficient
ce
of system (7) at E+ is given by

N
l1 (b, c) = , (9)
Ac

where
N = 8748c35 − 384912bc34 + 7381368b2 c33 − 79424064b3 c32 + 505225728b4 c31
− 1711841472b5 c30 + 818921824b6 c29 + 16773245376b7 c28
− 56240590128b8 c27 + 13040451328b9 c26 + 226460223392b10 c25
− 116678237760b11 c24 − 620371395840b12 c23 − 1492930322880b13 c22
+ 5286728760480b14 c21 + 7398667597760b15 c20 − 20730181898040b16 c19
− 21860119169184b17 c18 + 30871408659344b18 c17 + 55392456622912b19 c16
d
+ 8734980794112b20 c15 − 51547679745600b21 c14 − 70100033468256b22 c13
ite
− 51907021366464b23 c12 − 26540795365552b24 c11 − 10125322589568b25 c10
− 2983755765216b26 c9 − 689901394624b27 c8 − 125654941184b28 c7
ed
− 17921224512b29 c6 − 1968246432b30 c5 − 161258688b31 c4 − 9306900b32 c3
− 338256b33 c2 − 5832b34 c + 1215b31 ca30 + 2187c31 ba30 − 5832c34 a0
py
− 216b27 c3 a50 − 109755b2 c30 a30 + 62127b30 c2 a30 + 248589bc33 a0
+ 13365b33 ca0 + 6b7 c19 a90 + 44b8 c18 a90 + 104b9 c17 a90 − 60b10 c16 a90
Co
− 930b11 c15 a90 − 2568b12 c14 a90 − 4032b13 c13 a90 − 4152b14 c12 a90
− 2910b15 c11 a90 − 1380b16 c10 a90 − 424b17 c9 a90 − 76b18 c8 a90 − 6b19 c7 a90
− 81b5 c23 a70 − 51b6 c22 a70 + 3963b7 c21 a70 + 740b8 c20 a70 − 52358b9 c19 a70
ot
− 58802b10 c18 a70 + 278272b11 c17 a70 + 705384b12 c16 a70 − 2164b13 c15 a70
− 2378708b14 c14 a70 − 4802222b15 c13 a70 − 5257308b16 c12 a70
tN
− 3764546b17 c11 a70 − 1865142b18 c10 a70 − 647600b19 c9 a70 − 155056b20 c8 a70
− 24371b21 c7 a70 − 2257b22 c6 a70 − 93b23 c5 a70 + 9162b4 c26 a50
rip
− 140733b5 c25 a50 + 571578b6 c24 a50 + 1015694b7 c23 a50 − 9559241b8 c22 a50
− 1605642b9 c21 a50 + 64067132b10 c20 a50 + 30046886b11 c19 a50
− 216263318b12 c18 a50 − 299203504b13 c17 a50 + 95235478b14 c16 a50
sc
+ 624804674b15 c15 a50 + 843341492b16 c14 a50 + 703911694b17 c13 a50

nu
+ 391236802b18 c12 a50 + 114787738b19 c11 a50 − 15664340b20 c10 a50

− 33382355b21 c9 a50 − 16839160b22 c8 a50 − 4912440b23 c7 a50
− 913739b24 c6 a50 − 107204b25 c5 a50 − 7254b26 c4 a50
Ma
+ 1950237b3 c29 a30 − 15901911b4 c28 a30 + 50456268b5 c27 a30 + 96148407b6 c26 a30
− 1057945027b7 c25 a30 + 1217581643b8 c24 a30 + 7091390403b9 c23 a30
− 13019036867b10 c22 a30 − 31202876009b11 c21 a30 + 39652684338b12 c20 a30
ed
+ 131044058004b13 c19 a30 + 31095488241b14 c18 a30 − 328211393139b15 c17 a30

− 571699314346b16 c16 a30 − 125060833087b17 c15 a30 + 894196624671b18 c14 a30
pt
+ 1638261631227b19 c13 a30 + 1598210297757b20 c12 a30 + 1053507287148b21 c11 a30

ce
+ 507432350201b22 c10 a30 + 185142838247b23 c9 a30 + 52055309199b24 c8 a30

+ 11338778289b25 c7 a30 + 1904930319b26 c6 a30 + 243159009b27 c5 a30
Ac
+ 22897368b28 c4 a30 + 1506420b29 c3 a30 − 4538835b2 c32 a0

+ 44895870b3 c31 a0 − 239419602b4 c30 a0 + 416477691b5 c29 a0
+ 2637797719b6 c28 a0 − 16831562843b7 c27 a0 + 19080373310b8 c26 a0
+ 123725658565b9 c25 a0 − 396260324781b10 c24 a0 − 224872137266b11 c23 a0
+ 2343434549745b12 c22 a0 − 807008679090b13 c21 a0 − 7448063290755b14 c20 a0
+ 2729668140197b15 c19 a0 + 16887023165675b16 c18 a0
+ 2475551842600b17 c17 a0 − 24134658104245b18 c16 a0

− 23207360691630b19 c15 a0 + 3631644829352b20 c14 a0

+ 25462946024199b21 c13 a0 + 27526947662505b22 c12 a0
+ 17955426129375b23 c11 a0 + 8322538539860b24 c10 a0
+ 2903750423009b25 c9 a0 + 781227663733b26 c8 a0
+ 163269140450b27 c7 a0 + 26384464905b28 c6 a0 + 3243484064b29 c5 a0
+ 293842755b30 c4 a0 + 18525015b31 c3 a0 + 726651b32 c2 a0 ,
d
D = 2 bc(b + c)(b2 + 4bc − c2 )3 (b4 + 6b3 c + 24b2 c2 + 2bc3 − c4 )
ite
× (90b5 c − 54bc5 + 9b6 + 9c6 − 45b2 c4 + 396b3 c3 + 315b4 c2 )2
× (14b2 c8 − 168b3 c7 + 630b4 c6 − 560b5 c5 − 630b6 c4 − 168b7 c3
ed
− 14b8 c2 + 9b9 a0 − 9c9 a0 + b2 c5 a30 + b5 c2 a30 + 81bc8 a0
+ 135b8 ca0 + 3b3 c4 a30 + 3b4 c3 a30 − 59b2 c7 a0 − 883b3 c6 a0
py
+ 672b4 c5 a0 + 3076b5 c4 a0 + 2349b6 c3 a0 + 805b7 c2 a0 ).
√2
a bc 1
Proof When a = a0 , E+ = (− a00 , (a20 bc) 4 , − a0 b 1 ). Take the change of the vari-
Co
(a20 bc) 4
√2
a0 bc 1
ables x1 = x − (− a0 ), x2 = y − (a20 bc) 4 and x3 = z − (− a0 b 1 ), which trans-
(a20 bc) 4
forms E+ to E0 and system (7) into
 1
ot
 x˙1 = −a0 x1 − 2(a0 bc) 4 x2 − x2 ,
 2 2
tN

 √
x˙2 = a0 b 1 x1 + bx2 + aa00bc x3 − x1 x3 ,

 (a20 bc) 4

 1
√
rip
x˙3 = (a20 bc) 4 x1 − aa00bc x2 − cx3 + x1 x2 .

1 √ √
Denoting u = (a20 bc) 4 , ω0 = b2 − c2 + 4bc and v = bc, one obtains the linear
sc
coefficient matrix  
−a0 −2u 0
a b 
A= v
nu
.
0
 u b
u −v −c
Ma
It is easy to derive that A has a real eigenvalue λ1 = − b+c 4bc

and a pair of purely
imaginary eigenvalues λ2,3 = ±ω0 i.
It follows from some tedious calculations that
 2   
ed
ω0 −ω0 (b−c)i −2u

1 2u   
p=   c − ω 0 i  and q = 
 
a0 + ω0 i 

H
pt
a0 b−ω02 +ω0 (a0 −b)i

v v
ce
satisfy Aq = iω0 q, AT p = −iω0 p, ⟨p, q⟩ = ∑3i=1 p̄i qi = 1, where
H = a0 (b + c) − 3ω02 − 2ω0 (a0 − b + c)i.

Ac

By some further computations we have

h11 = (h111 , h211 , h311 ),
where 

2 8a0 u2 v

 h111 = K3 (−vK1 +bc) + 2cuK 2
K1 + K1 ,


4a2 uv 2
h211 = − K01 − a0KcK 2
− (vu +a 0 bc)K3
,

 1 uK1

 3
 2 2
4a bu
h11 = K2 (2uK1+a0 v) − K01 + K3 b(uK1+a
2
0 v)
,
d
u
with
ite
4u(ω02 − a0 b)
K1 = 2u2 v + a0 v2 + a0 bc, K2 = , K3 = 2ω02 + 2a20
v
and h20 = (h120 , h220 , h320 ), where
ed
 L (a +ω i)(bc−2cω0 i−v2 +4ω02 +2bω0 i)
h120 = 8u v(aL01+ω0 i) + 3 0 0
2 2

 − 8uvLL21 L4 ,

 L1

py


 h2 = 4uL2 L4 L5 − L3 (a0 +ω0 i)(vu +a0 bc+2a0 bω0 i) − 4uvL5 (a0 +ω0 i) ,
2
20 vL1 L1 u L1

 L3 (a0 +ω0 i)(bu +a0 bv−2u ω0 i)
2 2
− 4uL2 (2u +a0 v+2vω0 i)
2
Co

 h320 =


L1 u L1 v

 4u(a0 +ω0 i)(a0 b−2bω0 i−4ω02 +2a0 ω0 i)
− L1 ,
with ot
L1 = 2a0 bc − 4(a0 − b + c)ω02 + 2u2 v + 2(−4ω02 + a0 b + a0 c)ω0 i,
tN
L2 = −ω02 +a0 b+(a0 −b)ω0 i, L3 = 2a0 +2ω0 i, L4 = c+2ω0 i and L5 = a0 +2ω0 i.
By using MATLAB and performing some calculations as in [21], one obtains the
rip
first Lyapunov coefficient l1 (b, c) expressed by (9).

Remark 5 The expressions of N and D in (9) are very complicate and even awkward.
But, it is by using Matlab and computer program that we obtain the two expressions.
sc
By analysis and computer factor, we can not find simpler forms up to now. The prob-
lem that whether or not there are much shorter or/and descriptive forms of these two
nu
quantities deserves further considerations.

It remains to only verify the transversal condition of the Hopf bifurcation. In fact,
the condition holds from Lemma 1.
Ma
Now we denote
2 )+ = {(a, b, c) ∈ S2 |l (b, c) > 0},
(S21 21 1
(S21 )0 = {(a, b, c) ∈ S21
2 2 |l (b, c) = 0},
1
ed
2 −
(S21 ) = {(a, b, c) ∈ S21 |l1 (b, c) < 0}.
2
Noticing that l1 (69.49, 15.25) = 131.0598 > 0, l1 (1.576, 1.576) = 4.6360 × 10−16 ≈
pt
0 and l1 (84.75, 91.53) = −15.7979 < 0 and the continuation of l1 (b, c) in S21 2 , it
2 + 2 0 2 −
is easy to obtain that (S21 ) , (S21 ) and (S21 ) are all nonempty. For the graph of
ce
l1 (b, c), see Fig. 1.

Summarizing the above discussions one finally obtains the main result of this
subsection as follows.
Ac

d
ite
ed
Fig. 1 The figure of the first Lyapunov exponent l1 . It implies that the values of l1 (b, c) can be positive, zero, and
negative when (a, b, c) ∈ S21
2
.
py
Theorem 6 System (7) undergoes a Pioncaré–Andronov–Hopf bifurcation at E+ for
(a, b, c) ∈ S212 . More precisely, if (a, b, c) ∈ (S2 )+ , the Hopf bifurcation is unstable.
Co
21
Namely, for each a > a0 , but close to a0 , there exists an unstable closed orbit near the
asymptotically stable E+ ; if (a, b, c) ∈ (S21 2 )− , then the Hopf bifurcation stable, i.e.,
for each a < a0 , but close to a0 , there exists a stable closed orbit near the unstable
E+ ; if (a, b, c) ∈ (S21
2 )0 , then the Hopf bifurcation is degenerate, and the second or the
third or even more higher order Lyapunov coefficient needs computing to determine
ot
tN
the stability of the bifurcated periodic orbit. Symmetrically, there are the same results
at E− as those of E+ for (a, b, c) ∈ S21 2 .
rip
3 Existence of singular orbits and some conjectures

sc
Singular orbits of a dynamical system, such as singularly degenerate heteroclin-

ic cycle, homoclinic and heteroclinic orbits, etc, play an important role in displaying
some of its special natures, for example, bifurcation and chaos, especially in the glob-
nu
al bifurcation. In order to study system (7) in depth, we consider the problem for the
existence of such orbits.
Ma
3.1 Singularly degenerate heteroclinic cycle

ed
Recall that a singularly degenerate heteroclinic cycle consists of an invariant set

formed by a line of equilibria together with a heteroclinic orbit connecting two of the
equilibria. In 2004, it was discovered and studied by Kokubu and Roussarie [22] in
pt
the classical Lorenz system with the classical method “blow-up of the vector field at
infinity”. Up to 2009, Messias [23] proved that Lorenz system has a set of infinitely
ce
many such kind of cycles combining analytical and numerical techniques. From then
on, other researchers found that some other chaotic systems [13–16, 24] have the
property, too. Furthermore, the meaning of studying the existence of this kind of
Ac

cycles lies in discovering possible new chaotic attractors when such cycles disappear.
Hence, one naturally wonder whether or not a singularly degenerate heteroclinic cycle
exist in system (7). The numerical simulations illustrate that it does have this kind of
cycles, see Fig. 2. On basis of the analysis of non-isolated equilibria Ex and numerical
simulations, one has the similar numerical results to [23] as follows.
d
0 1
ite
−0.5 0
−1
−1
−1.5
−2
−2
x
ed
−3
−2.5
−4
−3
−3.5 −5
−4 −6
py
2 3
2
1 1.5 2
1 1
1
0 0.5 0
0 −1 0
−1 −0.5
−2 −1
−1
−2 −1.5 −3 −2
Co
y z y z
(a) (b)
Fig. 2 Two orbits of system (7) for time integration: [0, 250], the initial conditions: (a) (x0 , y0 , z0 ) = (0, ±3.82 ×
10−5 , ±6.18 × 10−5 ), (b) (x0 , y0 , z0 ) = (1, ±3.82 × 10−5 , ±6.18 × 10−5 ) and the parameters: a = 0, b = 1 and c = 2,
which imply the existence of two singularly degenerate heteroclinic cycles of system (7).
ot
tN
Numerical Result 3.1 For a = 0 and c > b > 0, the 1D unstable √manifold
√ W u (E1 )
of each normally hyperbolic saddle–like E1 = (x1 , 0, 0) (x1 ∈ (− bc, bc)) of sys-
rip
tends to one of the normal hyperbolic stable foci–like E2 = (x2 , 0, 0) (x2 ∈

tem (7) √
(−∞, − bc)) discussed in Theorem 3, forming singularly degenerate heteroclinic cy-
sc
nu
0
Ma
−2
−4
x
A
−6
−8 B
ed
−10
C
5
4
2
0
0
pt
−2
−5 −4
y z
ce
Fig. 3 Degenerate heteroclinic cycles of system (7) with (A) (x0 , y0 , z0 ) = (−2, ±3.82 × 10−5 , ±6.18 × 10−5 ), (B)
(x0 , y0 , z0 ) = (0, ±3.82 × 10−5 , ±6.18 × 10−5 ) and (C) (x0 , y0 , z0 ) = (2, ±3.82 × 10−5 , ±6.18 × 10−5 ) when (a, b, c) =
(0, 2, 5). This figure suggests that system (7) has infinitely many degenerate heteroclinic cycles.
Ac

cles (see Fig. 2–3). This also implies that system (7) has an infinite set of singularly
degenerate heteroclinic cycles, too.
The above result only is a numerical one, and its rigorous theoretical proof will
need one’s future work. So a conjecture is presented as follows.
Conjecture 1 Consider system (7) with a = 0. Then, for c > b > 0, system (7) has a
set of infinitely many singularly degenerate heteroclinic cycles.
What’s more interesting, we find that new chaotic attractors will be bifurcated out
d
with the disappearance of singularly degenerate heteroclinic cycles, namely, when a
ite
passes through zero, see Fig. 4.
ed
py
0 0
−1
−1
−2
−2
−3
−3
−4
Co
−5 −4
x
−6
−5
−7
−6
−8
−7
−9
−10 −8
4 4
−2
−2
0
2
4 2
−2
−2
0
ot 2
4
−4 −4 −4 −4
tN
y z y z
(a) (b)
rip
Fig. 4 Phase portraits of system (7) for the parameters b = 2, c = 3 and (a) a = 0, (b) a = 0.07, time of integra-
tion: [0, 250], and the initial conditions: (x0 , y0 , z0 ) = (0, ±3.82 × 10−5 , ±6.18 × 10−5 ), implying the existence of chaotic
attractors bifurcated from the singularly degenerate heteroclinic cycles of system (7).
sc
nu
3.2 Existence of homoclinic and heteroclinic orbits

Ma
Homoclinic or heteroclinic orbits are an unavoidable topic when considering the

global bifurcation of a dynamical system, especially the chaos system, such as [10–
12, 14]. Does system (7) have such orbits? First, we study the existence of homoclinic
orbits of (7).
ed
Take the parameters a = 3.27, b = 2, c = 3 (At this time, the parameters a, b and c
satisfy c > b > 0 and 0 < a < b −cb+c+4bc , and E0 is a saddle–node, E± are saddle–focus
2 2
pt
according to Section 2.) and the initial values (x0 , y0 , z0 ) = (0, ±3.82×10−5 , ±6.18×
10−5 ). Numerical simulations illustrate that system (7) has two homoclinic orbits to
ce
E0 ( refer to Fig. 5).

So far, we can not present rigorous theoretical proof for this numerical result,
either. Hence, one proposes the second conjecture as follows.
Ac

−0.5
−1
0 −1.5
−0.5
−2
−1
x
−2.5
−1.5
−2 −3
x
−2.5 −3.5
−3
−4
−3.5
−4
−4.5
0
−4.5
1 −1 4
0 −2 3
0
−1 1 2
−3
−2 2
1
3 −4
−3 0
4
−4 5 −5 −1
y y z
z
(a) (b)
d
Fig. 5 Two homoclinic orbits of system (7) to E0 as t → ±∞ for a = 3.27, b = 2, c = 3 and different initial values:
ite
(a) (x0 , y0 , z0 ) = (0, 3.82 × 10−5 , 6.18 × 10−5 ), (b) (x0 , y0 , z0 ) = (0, −3.82 × 10−5 , −6.18 × 10−5 ).
ed
2 −c2 +4bc
Conjecture 2 Assume c > b > 0. Then, for some a ∈ (0, b b+c ), system (7) has
two homoclinic orbits to E0 .
py
The problem of whether or not system (7) has other homoclinic orbits such as the
ones homoclinic to E+ or E− deserves further attention.
Co
Then, we consider the existence of heteroclinic orbits of system (7). According
to the Lorenz-like systems [10–12], the authors proved that those system have two
and only two heteroclinic orbits by constructing different Lyapunov functionals. Up
to now, one can not do this for system (7). However, one finds a common attribute
among systems [10–12]: they all have two and only two heteroclinic orbits when its
ot
equilibrium S0 is unstable and S± are local asymptotically stable (Note: S0 and S± in
tN
[10–12] are corresponding to E0 and E± in this paper.). Furthermore, one also knows
that E0 is unstable and E± are asymptotically stable when (a, b, c) ∈ S21
4 . Inspired by
this observation, after computer simulations, one finds that system (7) has also two
rip
heteroclinic orbits to E0 and E± . See Fig. 6.

Besides, when (a, b, c) ∈ S21
3 , E is unstable and E are asymptotically stable, too.
0 ±
Numerical simulations display that system (7) also has two heteroclinic orbits to E0
sc
and E± respectively ( see Fig. 7). These results are only numerical ones up to now,
hence, we present the third conjecture as follows.
nu
Conjecture 3 Assume (a, b, c) ∈ S21

3 ∪ S4 , then system (7) has two heteroclinic orbits
21
joining E0 and E± respectively.
Ma
Whether or not does system (7) have other heteroclinic orbits such as the ones
joining the equilibria E+ and E− ? So far, we fail to answer this question. This is also
ed
a problem to need further investigating.

pt
4 Dynamical behavior of system (7) at infinity

ce
In this section, we shall make an analysis of the flow of system (7) near and at
infinity.
Ac

0 0
−0.5 −0.5
−1 −1
−1.5 −1.5
−2 −2
−2.5 −2.5
x
x
−3 −3
−3.5 −3.5
−4 −4
−4.5 −4.5
−5 −5
3 3
2 2
1 1
1 1
0.5 0.5
0 0
−1 0 −1 0
−2 −0.5 −2 −0.5
−3 −1 −3 −1
d
y z y z
(a) (b)
ite
ed
0 0
−0.5 −0.5
−1
−1
−1.5
−1.5
−2
x
x
−2
−2.5
py
−2.5
−3
−3.5 −3
−4 −3.5
3 4
2
1.5 2 1.5
1 1 1
Co
0 0.5 0 0.5
−1 0 0
−0.5 −2 −0.5
−2
−1 −1
−3 −1.5 −4 −1.5
y z y z
(c) (d)
Fig. 6 Two orbits of system (7) for time integration: [0, 2000], the initial conditions: (x0 , y0 , z0 ) = (0, ±3.82 ×
10−5 , ±6.18 × 10−5 ) and the parameters: (b, c) = (1, 7) and a satisfying a > 0 ((a, b, c) ∈ S21
4
): (a) a = 0.01, (b) a = 0.07,
ot
(c) a = 0.7, (d) a = 3, implying the existence of two heteroclinic orbits of system (7) joining E0 and E± respectively.
tN
rip
0 0.5
−0.5 0
−1
sc
−0.5
−1.5
−1
−2
−1.5
x
−2.5
−2
nu
−3
−2.5
−3.5
−4 −3
−4.5 −3.5
5 50
Ma
5 40
20
0 0
0 0
−20
−5 −5 −50 −40
y z y z
ed
(a) (b)
Fig. 7 Phase portraits of system (7) when (x0 , y0 , z0 ) = (0, ±3.82×10−5 , ±6.18×10−5 ) and (a) (a, b, c) = (3.9, 2, 3),
pt
(b) (a, b, c) = (500, 2, 3) , which illustrate that system (7) has two heteroclinic orbits to E0 and E± when (a, b, c) ∈ S21
3
.
ce
Ac

x
y
d
ite
Fig. 8 Phase portrait of system (7) at infinity.
ed
4.1 Statement of main results
py
Our main results in this subsection are summarized in the following theorems.
Co
Theorem 7 For (a, b, c) ∈ R3 , the phase portrait of system (7) on the sphere at infin-
ity is as illustrated in Fig. 8, there exists four centers containing the endpoints of the
x– and z–axis.
ot
Theorem 8 The following statements hold for system (7).
tN
(i) For a = 0 or c = 0, and b ∈ R, the dynamics of system (7) has been discussed
in Section 3.
rip
(ii) For a, c ̸= 0, system (7) has four infinite heteroclinic orbits, one of which con-
sists of the origin E0 , the positive portion of the x–axis (z–axis) and of one equilibrium
on the sphere at infinity (the endpoint of the positive x or z–axis); the other consists
sc
of E0 , the negative part of the x–axis (z–axis) and of one equilibrium on the sphere at
infinity (the endpoint of the negative x or z–axis), see Figs. 9–10.
nu
The section is organized as follows: in Subsection 4.2 we study the dynamics of

system (7) in a neighborhood of and on the sphere at infinity and consequently to
Ma
prove Theorem 7, by using the tool—Poincaré compactification [23]. Based on the

knowledge of the dynamical behavior near and at infinity, in Subsection 4.3 we prove
Theorem 8.
ed
pt
4.2 Dynamical behavior of system (7) near infinity

ce
In this subsection we shall make an analysis of the flow of system (7) near and
at infinity. In order to do so, in the following four subsections, we shall analyze the
Poincaré compactification of system (7) in the local charts Ui and Vi , i = 1, 2, 3.
Ac

d
ite
(a) a>0 (b) a=0 (c) a<0
ed
Fig. 9 Infinite heteroclinic orbits of the system (7) for (a) a > 0 and (c) a < 0 when b < 0, and c > 0. For (b) a = 0
py
the system (7) has singularly degenerate heteroclinic cycles (center). The boundary of the disks corresponds to the points
at infinity in the plane x–y, see Fig. 8.
Co
ot
tN
(a) (b)
rip
Fig. 10 Infinite heteroclinic orbits of the system (7) for (a) c > 0 and (b) c < 0 when a > 0 and b < 0. The boundary
of the disks corresponds to the points at infinity in the plane y–z, see Fig. 8.
sc
nu
4.2.1 In the local charts U1 and V1
The expression of the Poincaré compactification p(X) of system (7) in the local
Ma
chart U1 is given by


 z˙1 = (a + b)z1 z3 + z31 − z2 ,

z˙2 = (a − c)z2 z3 + z21 z2 + z1 , (10)

ed

 2 2
z˙3 = az3 + z1 z3 .
pt
Take z3 = 0, which corresponds to the points of the sphere S2 at infinity. Then

the unique singular point of system (10) is I0 = (0, 0, 0), the eigenvalues of the linear
ce
part of the system at this point are i, -i and 0, and the zero eigenvalue has an eigen-
vector (0, 0, 1). In general, the dynamics near a non-hyperbolic singular point of this
type can be rather complex, see, for instance, [8]. Fortunately as a property of the
Ac

compactification procedure, the plane z1 z2 is invariant under the flow of system (10),
which makes the analysis simpler.
Setting z3 = 0, system (10) reduces to
z˙1 = z31 − z2 , z˙2 = z21 z2 + z1 , (11)
which has (0, 0) as its unique singular point.

It remains to analyze the dynamics of the system for z3 > 0 small in the 1D center
manifold related to the zero eigenvalue. This is done in the next proposition.
d
ite
Proposition 1 When a ̸= 0 the singular point I0 of system (10) has a 1D center man-
ifold, which is unstable (resp. stable) for a > 0 (resp. a < 0).
ed
Proof Based on the above analysis and the Center Manifold Theorem (see [21]) it
follows that system (10) has a 1D center manifold at the singular point I0 , the graph
of a function h : R → R2 given by (z1 , z2 ) = h(z3 ) = (h1 (z3 ), h2 (z3 )) satisfying the
py
conditions
h(0) = (0, 0), Dh(0) = (0, 0) (12)
Co
and
z˙1 − Dh1 (z3 )z˙3 = 0, z˙2 − Dh2 (z3 )z˙3 = 0. (13)
Moreover the flow on this center manifold is governed by the 1D equation ot
z˙3 = az23 + z3 h21 (z3 ).
tN
(14)
To understand the flow on this manifold we expand in Taylor series h around z3 = 0

rip
using conditions (12), to get

∞ ∞
h1 (z3 ) = ∑ ai zi3 and h2 (z3 ) = ∑ bi zi3 . (15)
sc
i=2 i=2
Now from (13) and the expressions for z˙1 and z˙2 given by system (10) we have
nu
{
(a + b)h1 z3 + h31 − h2 − Dh1 (z3 )(az23 + h21 z3 ) = 0,
(16)
(a − c)h2 z3 + h21 h2 + h1 − Dh1 (z3 )(az23 + h21 z3 ) = 0,
Ma
where h1 = h1 (z3 ) and h2 = h2 (z3 ) are provided by (15). Equating the coefficients of
the powers of z3 in (16) shows that ai ≡ bi ≡ 0 for all i ≥ 2. Hence h1 ≡ h2 ≡ 0 and
ed
the (unique) local center manifold at I0 is the graph of the function (z1 , z2 ) = h(z3 ) =
(h1 (z3 ), h2 (z3 )) = (0, 0), which, in the coordinates (z1 , z2 , z3 ), is given by
pt
c
Wloc (0, 0, 0) = {(z1 , z2 , z3 ) = (0, 0, z3 )|z3 ∈ (−ε , 0) ∪ (0, ε ), ε > 0}.
ce
Hence it follows from (14) that the flow on this manifold is governed by the equation
z˙3 = az23 , which implies that, for z3 > 0, the point I0 is locally asymptotically stable
(resp. unstable) along its center manifold for a < 0 (resp. a > 0).
Ac

In general the center manifold to an equilibrium point is not unique. The unique-
ness proved in Proposition 1 is particularly important because we are interested in
those solutions that do not tend toward the attractor of system (7) as t → ∞.
The flow in the local chart V1 is the same as the flow on the local chart U1 reversing
the time, because the compactified vector field p(X) in V1 coincides with the vector
field p(X) in U1 multiplied by −1. Therefore the orbit on the negative z–axis escapes
from infinity.
Now we study the system (10) in a neighborhood of the infinite sphere on the
d
chart U1 by considering z3 > 0 small, since we are interested in the behavior of the
solutions which tend to infinity on the x–axis.
ite
The z2 –axis is invariant w.r.t. the flow of system (10) because, for z1 = z2 = 0,
system (10) reduces to 

ed
 z˙1 = 0,
z˙2 = 0, (17)

 2
z˙3 = az3 .
py
Hence the origin I0 is asymptotically stable (resp. unstable) for a < 0 (resp. a > 0).
Furthermore, if a = 0, the system (10) has a line of equilibria Iz3 = (0, 0, z3 ) in the
Co
z3 –axis and the following proposition is true.
Proposition 2 Assume that a = 0 and that positive z3 is so small that z23 (c − b)2 < 4.
Then the following statements are true. ot
(1) If b − c < 0, then Iz3 are stable spirals normally hyperbolic to the z3 –axis, that
is, the linearized part of the system (10) at each of Iz3 has a pair of complex conjugate
tN
eigenvalues with negative real parts and the corresponding 2D Wloc s is normal to the
z3 –axis.
(2) If b − c = 0, then Iz3 behaves as a fold–Hopf bifurcation.
rip
(3) If b − c > 0, then Iz3 are unstable spirals normally hyperbolic to the z3 –axis.
Namely, the linear part of system (10) at every one of Iz3 has a pair of complex con-
u is normal
sc
jugate eigenvalues with positive real parts and the corresponding 2D Wloc
to the z3 –axis.
nu
Proof For a = 0 the Jacobian matrix of system (10) at the Iz3 is given by
 
bz3 −1 0
Ma
 1 −cz3 0 
0 0 0
√
(b−c)z3 ± 4−z23 (c−b)2 i
which has the eigenvalues λ1,2 = , λ3 = 0 with corresponding
ed
√ 2
(c+b)z3 ± 4−z23 (c−b)2 i
eigenvectors v1,2 = ( 2 , 1, 0)T , v3 = (0, 0, 1)T .
(1) If b − c < 0, then (b − c)z3 < 0, which reads that Iz3 has a pair of complex
pt
conjugate eigenvalues with negative real part; so, it behaves like a stable focus, and
the corresponding 2D Wloc s is normal to z –axis.
ce
√ 2 3 2
4−z3 (c−b)
(2) If b − c = 0, then λ1,2 = ± 2 i and λ3 = 0. Therefore, the system (10)
behaves as a fold–Hopf bifurcation at Iz3 .
Ac

(3) If b − c > 0, then (b − c)z3 > 0, which reads that Iz3 has a pair of complex
conjugate eigenvalues with positive real part; so, it behaves like an unstable focus,
and the corresponding 2D Wlocu is normal to z –axis.
3
Summarizing the above analysis, one can see that the proof of the proposition is
complete.
The flow in the local chart V3 is the same as the flow in the local chart U3 by re-
versing the time. So by the same type of analysis as stated above, taking into account
near the infinity in the local chart V3 we have z3 < 0, to allow us to get the following
d
proposition.
ite
Proposition 3 Assume that a = 0 and that z3 < 0 with |z3 | so small that z23 (c − b)2 <
4. Then the following statements are true.
ed
(1) If b − c < 0, then Iz3 are unstable spirals normally hyperbolic to the z3 –axis,
that is, the linearized part of the system (10) at each of Iz3 has a pair of complex con-
u is normal
py
jugate eigenvalues with positive real parts and the corresponding 2D Wloc
to the z3 –axis.
(2) If b − c = 0, then Iz3 behaves as a fold–Hopf bifurcation.
Co
(3) If b − c > 0, then Iz3 are stable spirals normally hyperbolic to the z3 –axis.
Namely, the linear part of the system (10) at every one of Iz3 has a pair of complex
conjugate eigenvalues with negative real parts and the corresponding 2D Wloc s is
normal to the z3 –axis.

ot
tN
rip
chart U2 is as follows

 z˙1 = −(a + b)z1 z3 + z1 z2 − 1,
 2
z˙2 = −(b + c)z2 z3 + z1 z22 + z1 ,

sc
(18)


z˙3 = −bz23 + z1 z2 z3 .
nu
For z3 = 0, system (18) reads

{
z˙1 = z21 z2 − 1,
Ma
(19)
z˙2 = z1 z22 + z1 .
System (19) has no equilibrium points. But, we find its first integral as follows:
ed
z21 + z2
H1 = + arctan z2 .
1 + z22
pt
For its illustration, see Fig. 11.

ce
The flow in the local chart V2 is the same as the flow in the local chart U2 reversing
the time, because the compactified vector field p(X) in V2 coincides with the vector
field p(X) in U2 multiplied by −1.
Ac

z2
0
−2
−4
d
−6
ite
−8
−8 −6 −4 −2 0 2 4 6 8
z1
ed
z21 +z2
Fig. 11 Phase portrait of the first integral H1 =
1+z22
+ arctan z2 for different H1 , where black orbits mean H1 > 0,
red orbit refers to H1 = 0, and green orbits point towards H1 < 0.
py
Co
chart U3 has the form 

 z˙1 = (c − a)z1 z3 − z21 z2 − z22 ,
 ot
z˙2 = (b + c)z2 z3 − z1 z22 − z1 , (20)



tN
z˙3 = cz3 − z1 z2 z3 .
2
For z3 = 0, system (20) is reduced to the following system

{
rip
z˙1 = −z21 z2 − z22 ,

(21)
z˙2 = −z1 z22 − z1 .
sc
Obviously, system (20) has the unique singular point I3 = (0, 0, 0) with three null
eigenvalues. Furthermore, one can illustrate the dynamics on the sphere at infinity by
nu
z21 +z2
using the first integral H2 = 1+z22
− arctan z2 of system (21), see Fig. 12.
Now we study system (20) in a neighborhood of the infinite sphere on the chart U3
Ma
by considering z3 > 0 small, since we are interested in the behavior of the solutions
which tend to infinity on the z–axis.
The z3 –axis is invariant w.r.t. the flow of system (20), since for z1 = z2 = 0 system
(20) reduces to 
ed

 z˙1 = 0,
z˙2 = 0, (22)

 2
pt
z˙3 = cz3 .
Hence the origin I3 is asymptotically stable (resp. unstable) if c < 0 (resp. c > 0)
ce
along z–axis. Furthermore, if c = 0, system (15) has a line of equilibria Iz3 = (0, 0, z3 )
coinciding with the z3 –axis with corresponding eigenvalues λ1 = −az3 , λ2 = bz3
and λ3 = 0. Notice that z3 = 0 corresponds to those points at infinity whereas z3
Ac

z2
0
−2
−4
d
−6
ite
−8
−8 −6 −4 −2 0 2 4 6 8
z1
ed
z21 +z2
Fig. 12 Phase portrait of the first integral H2 =
1+z22
− arctan z2 for different H2 , where black orbits mean H2 > 0,
red orbit refers to H2 = 0, and green orbits point towards H2 < 0.
py
Table 5 The behavior of Iz3 in the local chart U3 .
Co
a b Type of I3 Property of I3
<0 s , a 1D W c and a 1D W u
a 1D Wloc loc loc
<0 =0 non–hyperbolic c and a 1D W u
a 2D Wloc loc
>0 c and a 2D W u
a 1D Wloc loc
=0
<0
=0
non–hyperbolic
center
s and a 2D W c
a 1D Wloc
c
a 3D Wloc
loc
ot
tN
>0 non–hyperbolic c and a 1D W u
a 2D Wloc loc
<0 s and a 1D W c
a 2D Wloc loc
>0 =0 non–hyperbolic s and a 2D W c
a 1D Wloc loc
rip
>0 s c u
sc
sufficiently close to 0 corresponds to those points near infinity. Hence, one has the
proposition as follows.
nu
Proposition 4 Assume that c = 0 and z3 > 0 is sufficiently close to 0. Then the dy-
namical behaviors of Iz3 in the local chart U3 are illustrated in Table 5.
Ma
The flow in the local chart V3 is the same as the flow in the local chart U3 reversing
the time. So, the same type of analysis as made above, taking into account that near
the infinity in the local chart V3 we have z3 < 0, allows us to derive the following
preposition.
ed
Proposition 5 Assume that c = 0 and z3 < 0 is sufficiently close to 0. Then the dy-
namical behaviors of Iz3 in the local chart V3 are illustrated in Table 6.
pt
4.2.4 Dynamics of system (7) on the sphere at infinity

ce
Putting together the analysis formulated in the previous subsections one has a
global picture of the dynamical behavior of system (7) on the sphere at infinity. It has
Ac

Table 6 The behavior of Iz3 in the local chart V3 .
a b Type of I3 Property of I3
<0 s , a 1D W c and a 1D W u
a 1D Wloc loc loc
<0 =0 non–hyperbolic s and a 2D W c
a 1D Wloc loc
>0 s and a 1D W c
a 2D Wloc loc
<0 non–hyperbolic c and a 1D W u

a 1D Wloc loc
=0 =0 center c
a 3D Wloc
>0 non–hyperbolic s and a 2D W c
a 1D Wloc
d
loc
<0 c and a 2D W u
a 1D Wloc
ite
loc
>0 =0 non–hyperbolic c and a 1D W u
a 2D Wloc loc
>0 s c u
ed
four centers in the endpoints of the x– and z–axis (see Fig. 8). These are just what
Theorem 7 says.
py
We observe that the description of the complete phase portrait of system (7) on
the sphere at infinity is possible because of the invariance of this set under the flow
Co
of the compactified system.
4.3 Infinite heteroclinic orbit ot

For a ̸= 0 small, b, c ∈ R, the complex dynamical behavior of the origin E0 has
tN
been discussed in Section 2. The Jacobian matrix at this point has the eigenvalues
λ1 = −a, λ2 = b and λ3 = −c with the corresponding eigenvectors v1 = (1, 0, 0),
v1 = (0, 1, 0) and v3 = (0, 0, 1).
rip
Hence, for a < 0, the instability index of E0 is at least 1. It is easy to check

that the x–axis is invariant under the flow of system (7), and it follows from the
sc
calculations above that the origin is unstable along this axis. Moreover, the equilibria
at the endpoints of the x–axis on the sphere at infinity, which coincide with the origin
I0 in the local charts U3 and V3 , are unstable (see, Subsection 4.2.3). Thus system (7)
nu
has two infinite heteroclinic orbits as in [23, 24], one of them consisting of the origin,
the positive portion of the x–axis and of one equilibrium on the sphere at infinity (the
endpoint of the positive x–axis); the other one consists of the origin, the negative part
Ma
of the x–axis and of the endpoint of the negative x–axis. Particularly, one of them is
shown in Fig. 9(a) when b < 0 and c > 0.
For a > 0, the stability index of the saddle is at least 1, and the origin E0 is asymp-
ed
totically stable along the x–axis but the endpoints of this axis on the sphere at infinity
are unstable (see, Subsection 4.2.3). Hence, system (7) has also two infinite hetero-
clinic orbits on the x–axis as the ones in [23, 24], which are illustrated in Fig. 9(c)
pt
when b < 0 and c > 0.

Taking the same method, system (7) has other two heteroclinic orbits: one con-
ce
nects the origin and the positive endpoint of the negative z–axis; the other one con-
nects the origin and the positive endpoint of the positive z–axis, see Fig. 10.
These discussions finish the proof of Theorem 8.
Ac

5 Conclusion
In this paper, we mainly present some new results for a 3D chaotic system in
[17]. After some problems in [17, 18] are pointed out and completely solved, some
other rich dynamical behaviors of system (7), such as two non-isolated equilibria, the
existence of a set of infinitely many degenerate heteroclinic cycles, the existence of
homoclinic and heteroclinic orbits and the dynamics at infinity, etc. which are not
studied in any known literature, are formulated in this paper.
By numerical simulation, we find that there exist chaotic attractors that are bi-
d
furcated from singularly degenerate heteroclinic cycles, homoclinic orbits to E0 , het-
ite
eroclinic orbits joining E0 and E± . It is worth to further theoretically explore the
mechanism for the occurrence of such chaotic attractors in the future.
ed
Acknowledgement
py
This work is partly supported by NSF of China (grant: 61473340, 10771094,
11201360), the Postgraduate Innovation Project (KYZZ− 0361) of Jiangsu Province
Co
and the NSF of Yangzhou University. We’d like to thank Prof. Guanrong Chen of
City University of Hong Kong for his presenting us some simulation programs.
References
ot
tN
1. Edward, O., 2002, Chaos in Dynamical Systems, Second ed., Cambridge Univer-
sity Press, Cambridge.
rip
2. Alvarez, G., Li, S., Montoya, F., Pastor, G., and Romera, M., 2005, “Breaking pro-
jective chaos sychronization secure communication using filtering and generalized
synchronization”, Chaos, Solitons & Fractals, 24(3), pp. 775–783.
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3. Ottino, J. M., Leong, C. W., Rising, H., and Swanson, P. D., 1988, “Morphological
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bined with particle swarm optimization and trend adjustment for electricity demand
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Raton, CRC Press.

6. Lorenz, E. N., 1963, “Deterministic non-periodic flow”, J. Atmospheric Sci.,
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ed
7. Rössler, O. E., 1976, “An equation for continuous chaos”, Phys. Lett. A, 57(5),
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Chaos, 9(8), pp. 1465–1466.

9. Li, X., Liu, T., Liu, L., and Liu, K., 2004, “A new chaotic attractor”, Chaos, Soli-
ce
tons & Fractals, 22(5), pp. 1031–1048.

10. Li, X., and Wang, H., 2011, “Homoclinic and heteroclinic orbits and bifurcations
of a new Lorenz-type system”, Internat. J. Bifur. Chaos, 21(9), pp. 2695–2712.
Ac

11. Liu, Y., and Yang, Q., 2010, “Dynamics of a new Lorenz-like chaotic system”,
Nonl. Anal.: RWA, 11(4), pp. 2563–2572.
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like chaotic system”, Nonlinear Dyn., 65(3), pp. 255–270.
13. Dias, F. S., Mello, L. F., and Zhang, J., 2010, “Nonlinear analysis in a Lorenz-like
system”, Nonl. Anal.: RWA, 11(5), pp. 3491–3500.
14. Yang, Q., and Wei, Z., 2010, “An unusual 3D autonomous quadratic chaotic sys-
tem with two stable node-foci”, Int. J. Bifurc. Chaos, 20(4), pp. 1061–1083.
15. Wei, Z., and Yang, Q., 2010, “Dynamics analysis of a new autonomous 3–D
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chaotic system only with stable equilibria”, Nonl. Anal.: RWA, 12(1), pp. 106–118.
ite
16. Liu, Y., Pang, S., and Chen, D., 2013, “An unusual chaotic system and its con-
trol”, Math. Comput. Model, 57(9-10), pp. 2473–2493.
17. Liu, C., Liu, L., and Liu, T., 2009, “A novel three-dimensional autonomous chaos
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system”, Chaos, Solitons & Fractals, 39(4), pp. 1950–1958.
18. Li, C., Li, H., and Tong, Y., 2013, “Analysis of a novel three–dimensional chaotic
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system”, Optik, 124(13), pp. 1516–1522.
19. Mees, A. I., and Chapman, P. B., 1987, “Homoclinic and heteroclinic orbits in
the double scroll attractor”, IEEE Trans. Circ.-I CAS, 34(9), pp. 1115–1120.
Co
20. Silva, C. P, 1993, “Shil’nikov’s theorem–A tuitorial”, IEEE Trans. Circ.-I,
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21. Kuzenetsov, Y. A., 2004, Elements of Applied Bifurcation Theory, Third ed.,
Springer-Verlag, New York. ot
22. Kokubu, H., and Roussarie, R., 2004, “Existence of a singularly degenerate het-
eroclinic cycle in the Lorenz system and its dynamical consequences: Part I”, J.
tN
Dyn. Differ. Equ., 16(2), pp. 513–557.
23. Messias, M., 2009, “Dynamics at infinity and the existence of singularly de-
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sc
13(6), pp. 2466–2475.

nu
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pt
ce
Ac

Figure Captions List
Fig. 1 The figure of the first Lyapunov exponent l1 . It implies that the values
of l1 (b, c) can be positive, zero, and negative when (a, b, c) ∈ S212 .
Fig. 2 Two orbits of system (7) for time integration: [0, 250], the initial condi-
tions: (a) (x0 , y0 , z0 ) = (0, ±3.82×10−5 , ±6.18×10−5 ), (b) (x0 , y0 , z0 ) = (1, ±3.82×
10−5 , ±6.18 × 10−5 ) and the parameters: a = 0, b = 1 and c = 2, which imply the
d
existence of two singularly degenerate heteroclinic cycles of system (7).
ite
Fig. 3 Degenerate heteroclinic cycles of system (7) with (A) (x0 , y0 , z0 ) =
(−2, ±3.82×10−5 , ±6.18×10−5 ), (B) (x0 , y0 , z0 ) = (0, ±3.82×10−5 , ±6.18×10−5 )
and (C) (x0 , y0 , z0 ) = (2, ±3.82 × 10−5 , ±6.18 × 10−5 ) when (a, b, c) = (0, 2, 5). This
ed
figure suggests that system (7) has infinitely many degenerate heteroclinic cycles.
py
Fig. 4 Phase portraits of system (7) for the parameters b = 2, c = 3 and (a)
a = 0, (b) a = 0.07, time of integration: [0, 250], and the initial conditions: (x0 , y0 , z0 ) =
(0, ±3.82 × 10−5 , ±6.18 × 10−5 ), implying the existence of chaotic attractors bifur-
Co
cated from the singularly degenerate heteroclinic cycles of system (7).
Fig. 5 Two homoclinic orbits of system (7) to E0 as t → ±∞ for a = 3.27,

ot
b = 2, c = 3 and different initial values: (a) (x0 , y0 , z0 ) = (0, 3.82×10−5 , 6.18×10−5 ),
(b) (x0 , y0 , z0 ) = (0, −3.82 × 10−5 , −6.18 × 10−5 ).
tN
Fig. 6 Two orbits of system (7) for time integration: [0, 2000], the initial con-
ditions: (x0 , y0 , z0 ) = (0, ±3.82 × 10−5 , ±6.18 × 10−5 ) and the parameters: (b, c) =
rip
(1, 7) and a satisfying a > 0 ((a, b, c) ∈ S21 4 ): (a) a = 0.01, (b) a = 0.07, (c) a = 0.7,
(d) a = 3, implying the existence of two heteroclinic orbits of system (7) joining E0
and E± respectively.
sc
Fig. 7 Phase portraits of system (7) when (x0 , y0 , z0 ) = (0, ±3.82×10−5 , ±6.18×
10−5 ) and (a) (a, b, c) = (3.9, 2, 3), (b) (a, b, c) = (500, 2, 3) , which illustrate that sys-
nu
tem (7) has two heteroclinic orbits to E0 and E± when (a, b, c) ∈ S21 3 .
Ma
Fig. 8 Phase portrait of system (7) at infinity.
Fig. 9 Infinite heteroclinic orbits of the system (7) for (a) a > 0 and (c) a < 0
when b < 0, and c > 0. For (b) a = 0 the system (7) has singularly degenerate hetero-
ed
clinic cycles (center). The boundary of the disks corresponds to the points at infinity
in the plane x–y, see Fig. 8.
pt
Fig. 10 Infinite heteroclinic orbits of the system (7) for (a) c > 0 and (b)
ce
c < 0 when a > 0 and b < 0. The boundary of the disks corresponds to the points at
infinity in the plane y–z, see Fig. 8.
Ac

z21 +z2
Fig. 11 Phase portrait of the first integral H1 = 1+z22
+ arctan z2 for different
H1 , where black orbits mean H1 > 0, red orbit refers to H1 = 0, and green orbits point
towards H1 < 0.
z21 +z2
Fig. 12 Phase portrait of the first integral H2 = 1+z22
− arctan z2 for different
H2 , where black orbits mean H2 > 0, red orbit refers to H2 = 0, and green orbits point
towards H2 < 0.
d
ite
ed
py
Co
ot
tN
rip
sc
nu
Ma
ed
pt
ce
Ac

d
ite
ed
Fig. 13
py
Co
0 1
−0.5 0
−1
−1
−1.5
−2
−2
x
−3
−2.5
−3
−3.5
−4
−5
ot
tN
−4 −6
2 3
2
1 1.5 2
1 1
1
0 0.5 0
0 −1 0
−1 −0.5
−2 −1
−1
−2 −1.5 −3 −2
rip
y z y z
(a) (b)
sc
Fig. 14
nu
Ma
ed
pt
ce
Ac

−2
−4
x
A
−6
−8 B
−10
C
d
5
4
2
0
ite
0
−2
−5 −4
y z
ed
Fig. 15
py
0 0
Co
−1
−1
−2
−2
−3
−3
−4
−5 −4
x
−6
−5
−7
−8
−9
−10
4
−6
−7
−8
4
ot
tN
2 4 2 4
2 2
0 0
0 0
−2 −2
−2 −2
−4 −4 −4 −4
y z y z
rip
(a) (b)
Fig. 16
sc
nu
−0.5
−1
0 −1.5
−0.5
−2
−1
x
−2.5
−1.5
−2 −3
Ma
x
−2.5 −3.5
−3
−4
−3.5
−4
−4.5
0
−4.5
1 −1 4
0 −2 3
0
−1 1 2
−3
−2 2
1
3 −4
−3 0
4
−4 5 −5 −1
y y z
z
(a) (b)
ed
Fig. 17
pt
ce
Ac

0 0
−0.5 −0.5
−1 −1
−1.5 −1.5
−2 −2
−2.5 −2.5
x
x
−3 −3
−3.5 −3.5
−4 −4
−4.5 −4.5
−5 −5
3 3
2 2
1 1
1 1
0.5 0.5
0 0
−1 0 −1 0
−2 −0.5 −2 −0.5
−3 −1 −3 −1
d
y z y z
(a) (b)
ite
ed
0 0
−0.5 −0.5
−1
−1
−1.5
−1.5
−2
x
x
−2
−2.5
py
−2.5
−3
−3.5 −3
−4 −3.5
3 4
2
1.5 2 1.5
1 1 1
Co
0 0.5 0 0.5
−1 0 0
−0.5 −2 −0.5
−2
−1 −1
−3 −1.5 −4 −1.5
y z y z
(c) (d)
Fig. 18 ot
tN
rip
0 0.5
−0.5 0
−1
−0.5
−1.5
−1
−2
sc
−1.5
x
−2.5
−2
−3
−2.5
−3.5
−4 −3
nu
−4.5 −3.5
5 50
5 40
20
0 0
0 0
Ma
−20
−5 −5 −50 −40
y z y z
(a) (b)
ed
Fig. 19
pt
ce
Ac

x
y
d
ite
Fig. 20
ed
py
Co
(a) a>0 (b) a=0 (c) a<0
ot
tN
Fig. 21
rip
sc
nu
(a) (b)
Ma
Fig. 22
ed
pt
ce
Ac

z2
0
−2
−4
d
−6
ite
−8
−8 −6 −4 −2 0 2 4 6 8
z1
ed
Fig. 23
py
8
Co
4
2
z2
−2
−4
ot
tN
−6
−8
−8 −6 −4 −2 0 2 4 6 8
z1
rip
Fig. 24
sc
nu
Ma
ed
pt
ce
Ac

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Journal of Computational and Nonlinear Dynamics.

Received September 11, 2014;

Noname manuscript No.

New results to a 3D chaotic system with two different kinds

Haijun Wang · Xianyi Li

Keywords Hopf bifurcation · singularly degenerate heteroclinic cycle · homoclinic

H. Wang Corresponding author.

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2 Haijun Wang, Xianyi Li

In 2013, Li et al. [18] introduced the following 3D chaotic system

x˙2 = cx2 − dx1 x3 , (2)

where (a, f , c, d, b, e) ∈ R6 , thought system (2) to be a novel system, and mainly by

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2) the existence of infinitely many singularly degenerate heteroclinic cycles,

5) the existence of infinite heteroclinic orbit, etc.

can divide the following three cases.

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4 Haijun Wang, Xianyi Li

changes system (1) into 

converts system (1) to 

to systems (4) and (6) under the transformation X = −u, Y = −v, Z = w.

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convenience, still write variables X, Y and Z with x, y and z, respectively. Namely, in

where a, b, c ∈ R, and which is just system (1) with e, k, m kicked out.

2 Local behaviors of system (7)

2.1 Distribution of equilibrium point of system (7)

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6 Haijun Wang, Xianyi Li

Table 1 The distribution of equilibrium of system (7).

2.3 Behaviors of non-isolated equilibria

In this subsection, one studies the dynamics of both non-isolated equilibria Ex

When a = 0, system (7) has√non-isolated equilibria Ex = (x, 0, 0) (for any x ∈ R)

(b−c)± (b−c)2 +4(bc−x2 )

Theorem 3 Assume that a = 0. Then system (7) has non-isolated equilibria Ex =

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Table 2 The local behavior of equilibrium E0 of system (7).

<0 <0 s , a 1D W c and a 1D W u

Table 3 The behavior of non-isolated equilibria Ex of system (7).

<0 fold–Hopf bifurcation occurs

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8 Haijun Wang, Xianyi Li

Table 4 The behavior of non-isolated equilibria Ez of system (7).

According to the symmetry of E+ and E− of system (7), it is sufficient to study

λ 3 + (a − b + c)λ 2 + a(b + c)λ + 4abc = 0. (8)

S1 = {(a, b, c) ∈ S : a < 0, bc > 0}, S2 = {(a, b, c) ∈ S : a > 0, bc > 0}.

S21 = {(a, b, c) ∈ S2 : b > 0, c > 0, a − b + c > 0},

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1 = {(a, b, c) ∈ S : a < b2 −c2 +4bc

Theorem 5 E+ is unstable for (a, b, c) ∈ S1 ∪ S22 ∪ S23 ∪ S21

dRe(λ2 ) [b2 − c2 + 4bc](b + c)2

The above inequality reads that, for (a, b, c) ∈ S21

occur are met. Consequently, a Hopf bifurcation happens at E+ .

Lemma 2 Consider system (7) with (a, b, c) ∈ S21

of system (7) at E+ is given by

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10 Haijun Wang, Xianyi Li

+ 624804674b15 c15 a50 + 843341492b16 c14 a50 + 703911694b17 c13 a50

+ 391236802b18 c12 a50 + 114787738b19 c11 a50 − 15664340b20 c10 a50

+ 131044058004b13 c19 a30 + 31095488241b14 c18 a30 − 328211393139b15 c17 a30

+ 1638261631227b19 c13 a30 + 1598210297757b20 c12 a30 + 1053507287148b21 c11 a30

+ 507432350201b22 c10 a30 + 185142838247b23 c9 a30 + 52055309199b24 c8 a30

+ 22897368b28 c4 a30 + 1506420b29 c3 a30 − 4538835b2 c32 a0

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