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In discontinuous systems, the fundamental solution matrix of the linearized dynamics about a reference trajectory can be noninvertible. This feature can be exploited, for instance, to design robust control algorithms, to synchronize a network, or to stabilize otherwise unstable or chaotic dynamics. In this paper we classify all the phenomena that cause rank defect in the fundamental solution matrix of a generic discontinuous system. We relate these phenomena to simple geometric conditions at a point of vector field switching, sliding, or impact, and we derive necessary and sufficient conditions for the rank defect. This constitutes a valuable tool to detect flow noninvertibility or to purposefully include it in the design of a system. In terms of Lyapunov exponents, the singularity of the fundamental solution matrix means that an infinitesimal sphere of initial perturbations is mapped onto a lower-dimensional ellipsoid. This consequently reduces the number of finite exponents and, most remarkably, makes them depend on the full history of the reference trajectory used for the computation. We introduce a numerical procedure which allows the computation of the Lyapunov exponents by resorting to a properly reduced variational system. The validity of the approach is verified in two examples. [ABSTRACT FROM AUTHOR]

We show in this paper how simulations of ODEs and continuations of systems of algebraic equations can be combined to study the evolution of biodiversity in multispecies systems where phenotypic traits are genetically transmitted. We follow the adaptive dynamics (AD) approach, which provides a deterministic approximation of the evolutionary dynamics of stationary coexisting populations in terms of an ODE system, the so-called AD canonical equation. AD also provides explicit conditions to test whether a stable evolutionary equilibrium of the canonical equation is a branching point--resident and mutant morphs coexist and further differentiate, thus increasing biodiversity--or not. We analyze a standard parameterized family of prey-predator communities, described by the most standard ecological model, and propose an iterative procedure to obtain the branching portrait, explaining the dependence of branching scenarios on two (demographic, environmental, or control) parameters. Among a number of interesting results, in line with field studies and known ecological principles, we find that prey branching is induced by the predation pressure, and is favored when prey intraspecific competition is highly sensitive to the resident-mutant phenotypic mismatch, while predator branching is not possible when prey and predators are present in an equal number of morphs. This results in alternate prey-predator branching sequences with possible phases of prey unilateral branching. The guidelines for deriving a general method for analyzing the evolution of biodiversity are also discussed. The indications that can be obtained typically have a qualitative nature, but can be of help for the long-term conservation and management of biodiversity. [ABSTRACT FROM AUTHOR]

We contribute to the analysis of codimension-two bifurcations in discontinuous systems by studying all equilibrium bifurcations of 2D Filippov systems that involve a sliding limit cycle. There are only two such local bifurcations: (1) a degenerate boundary focus, which we call the homoclinic boundary focus (HBF), and (2) the boundary Hopf (BH).We prove that-besides local bifurcations of equilibria and pseudoequilibria-the universal unfolding of the HBF singularity includes a codimension-one global bifurcation at which a sliding homoclinic orbit to a pseudosaddle exists, while that of the BH singularity has a codimension-one bifurcation curve along which a cycle grazing occurs. We define two canonical forms, one for each singularity, to which a generic 2D Filippov system can be locally reduced by smooth changes of variables and parameters and time reparametrization. Explicit genericity conditions are also provided, as well as the asymptotics of the bifurcation curves in the two-parameter space. We show that both studied codimension-two bifurcations occur in a known 2D Filippov system modeling an ecosystem subject to on-off harvesting control, and we provide two Mathematica scripts that automatize all computations. [ABSTRACT FROM AUTHOR]

We analyze three codimension-two bifurcations occurring in nonsmooth systems, when a nonhyperbolic cycle (fold, flip, and Neimark-Sacker cases, in both continuous and discrete time) interacts with one of the discontinuity boundaries characterizing the system's dynamics. Rather than aiming at a complete unfolding of the three cases, which would require specific assumptions on both the class of nonsmooth system and the geometry of the involved boundary, we concentrate on the geometric features that are common to all scenarios. We show that, at a generic intersection between the smooth and discontinuity induced bifurcation curves, a third curve generically emanates tangentially to the former. This is the discontinuity induced bifurcation curve of the secondary invariant set (the other cycle, the double-period cycle, or the torus, respectively) involved in the smooth bifurcation. The result can be explained intuitively, but its validity is proved here rigorously under very general conditions. Three examples from different fields of science and engineering are also reported. [ABSTRACT FROM AUTHOR]

BPCONT, a driver for the software package AUTO for the numerical continuation of simple branch points of algebraic and boundary-value problems, is described in detail. Simple branch points are points in the continuation space where two solution branches intersect transversally. Detection and accurate location of branch points along the continuation of a solution branch and switching to the continuation of the other branch are implemented in AUTO and other software packages, but branch point continuation has not been fully supported. BPCONT fills this gap. It handles both generic problems, where branch point continuation is performed in two extra parameters, and nongeneric cases, where one extra parameter is typically involved due to problem-specific symmetries. This paper presents the extended algebraic and boundary-value problems which define branch point continuation, discusses their initialization at branch point detection and the symmetry-breaking technique used to automatically handle nongeneric cases, and describes the BPCONT implementation. Several examples, including generic and nongeneric algebraic problems, generic and nongeneric periodic boundary-value problems, and a nongeneric nonperiodic boundary-value problem, are also presented. [ABSTRACT FROM AUTHOR]

We show in this paper how numerical bifurcation analysis can be used to study the evolution of genetically transmitted phenotypic traits. For this, we consider the standard Rosenzweig-MacArthur prey-predator model [The American Naturalist, 97 (1963), pp. 209-223] and, following the so-called adaptive dynamics approach, we derive from it a second-order evolutionary model composed of two ODEs, one for the prey trait and one for the predator trait. Then, we perform a detailed bifurcation analysis of the evolutionary model with respect to various environmental and demographic parameters. Surprisingly, the evolutionary dynamics turn out to be much richer than the population dynamics. Up to three evolutionary attractors can be present, and the bifurcation diagrams contain numerous global bifurcations and codimension-2 bifurcation points. Interesting biological properties can be extracted from these bifurcation diagrams. In particular, one can conclude that evolution of the traits can be cyclic and easily promote prey species diversity. [ABSTRACT FROM AUTHOR]