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Oscillations are one of the most important phenomena that occur in dynamical systems. A
system oscillates when it has a nontrivial periodic solution
x ( t + T ) = x ( t ) , t 0
for some T > 0 . In a phase portrait an oscillation or periodic solution looks like a closed
curve.
Example 1.3: Van der Pol Oscillator
x&1 = x2
x&2 = x1 + 1 x12 x2
In the case = 0 we have a continuum of periodic solutions, while in the second case
0 there is only one.
An isolated periodic orbit is called a limit cycle.
Example 1.4: A stable and an unstable limit cycle
Theorem 1.1: (Poincar-Bendixson Criterion) Consider the system x& = f ( x ) and let M
be a closed bounded subset of the plane such that:
M contains no equilibrium points, or contains only one equilibrium point such that the
Jacobian matrix [ f / x ] at this point has eigenvalues with positive real parts.
Proof
On any orbit x& = f ( x ) , we have dx1 / dx2 = f 2 / f1 . Therefore, on any closed orbit , we
have
f ( x , x ) dx f ( x , x ) dx
2
=0
f1 f 2
S x1 + x2 dx1dx2 = 0
where S is the interior of . If f1 / x1 + f 2 / x2 > 0 (or < 0 ) on D , then we cannot
find a region S D such that the last equality holds. Hence, there can be no closed orbits
entirely in D .
1.2 Bifurcations
The qualitative behavior of a second-order system is determined by the pattern of its
equilibrium points and periodic orbits, as well as by their stability properties. One issue of
practical importance is whether the system maintains its qualitative behavior under
infinitesimally small perturbations. When it does so, the system is said to be structurally
stable. In particular, we are interested in perturbations that will change the equilibrium
points or periodic orbits of the system or change their stability properties.
x&1 = x12
x&2 = x2
parameter. Let ( 0, 0 ) be an equilibrium point for any value of the parameter . Let c be
such that eig f
( 0, 0 ) = j .
x
d
Re ( 1,2 ) > 0 and the
dx