Mini-course bifurcation theory

Part three: bifurcations of 2D systems

George van Voorn

Bifurcations
Bifurcations of equilibria in 1D
Transcritical ( = 0) Tangent ( = 0)

In 2D
Transcritical (One = 0) Tangent (One = 0)

Example
2D ODE Rosenzweig-MacArthur (1963)

R = intrinsic growth rate K = carrying capacity A/B = searching and handling C = yield D = death rate

Example
At K = 0 x = 0, y = 0 0 < K < 6 x > 0, y = 0 At K = 6 x = K, y = 0 6 < K < ? x = K, y > 0

K = 0 and K = 6 transcritical Invasion criterion species x,y

Hopf bifurcation
Andronov-Hopf bifurcation: Transition from stable spiral to unstable spiral (equilibrium becomes unstable) Or vice versa Periodic orbit (limit cycle), stable Or vice verse, respectively Conditions:

Hopf bifurcation
x,y

Example
At K 20 x = K, y > 0 Limit cycle Change in dynamics of species x,y

Paradox of enrichment
Isoclines RM model

x = K, for all K > 6 increase only in y

Paradox of enrichment

One-parameter bifurcation diagram

Paradox of enrichment
Maximal values x and y Minimal values x and y

Equilibria

One-parameter bifurcation diagram

Paradox of enrichment

Oscillations increase in size for larger K

Paradox of enrichment
Large oscillations extinction probabilities
Paradox:
Increase in food availability K No benefit for prey x Increased probability of extinction system

Limit cycle bifurcations

For limit cycles same bifurcations as for equilibria Imagine cross section

Limit cycle bifurcations

Transcritical Cycle on axis (mostly) Tangent Birth or destruction cycle(s)

Limit cycle bifurcations

Hopf (called Neimark-Sacker) Torus

Limit cycle bifurcations

Flip bifurcation Manifold around cycle

Flip bifurcations
Manifold twisted

Flip bifurcations
Flip bifurcation of limit cycle
Manifold twisted (Mbius ribbon) Period doubling

Codim 2 points
Bifurcation points can be continued in twoparameter space = bifurcation curve Continuation can result in: Bifurcation points of higher co-dimension

Codim 2 points
Bogdanov-Takens Cusp Generalised Hopf (Bautin)

Example
Bazykin model

Calculate equilibrium Vary one parameter until a bifurcation is encountered

Bazykin

x*,y*

Continuation in two-parameter space

Bazykin: dynamics
Stable node: coexistence No positive equilibria: extinction

Stable cycle: coexistence

Unstable equilibria: extinction

Bazykin: BT point

Bogdanov-Takens point tangent & Hopf

Bazykin: GH point

Bautin point transition Hopf from stable to unstable point

Bazykin: cusp point

Cusp point collision two tangent points

Question

What happens here?

Stable cycle: coexistence

Unstable equilibria: extinction

Global bifurcations
BT point: origin of homoclinic bifurcation

Bazykin: homoclinic

Starting at Hopf continue cycle. What happens?

Bazykin: homoclinic

Limit cycle period to infinity. Why?

Homoclinic connection
Wu Ws

Homoclinic connecting orbit: Wu = Ws Time to infinity near equilibrium

Heteroclinic connection

s Heteroclinic connecting orbit: Wu = s

Wu

Bazykin: homoclinic