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Use local coordinates $q=\theta -\pi /2$, $p=\varphi$ at $P_1$. The Jacobian matrix, its trace and its determinant areConsequently $P_1$ is attracting when $T<0,D>0$, repelling when $T>0,D>0$, and a saddle equilibrium when $D<0$. A transition between a node and a focus at $T^2=4D$ changes the linear geometry but is not a bifurcation of the local topological phase portrait.

The stationary bifurcation curve is $\lambda +\kappa =2$. To identify it, write $C=\cos 2\varphi$, $S=\sin 2\varphi$. At a non-equatorial equilibrium point, eliminating $S$ givesNear $(3,-1)$, if $d=2-\lambda -\kappa >0$, these yield $p=\pm \sqrt{d}/2+O(d^{3/2})$ and $q=p+o(\sqrt{d})$. The two branches are related by the local reflection $(q,p)\mapsto (-q,-p)$. Their determinants are $-4d+o(d)$, so they are saddle equilibria. This is a pitchfork bifurcation; on the portion with $T<0$ the saddle branches lie on the side where $P_1$ is stable, giving a subcritical pitchfork bifurcation.

A Hopf bifurcation requires $T=0,D>0$, henceThe oscillation frequency is $\omega =\sqrt{-2(1+\kappa )}$. At the intersection $\boxed{(\lambda ,\kappa )=(3,-1)}$, $J\ne 0$ but $J^2=0$: there is a double zero eigenvalue with one eigenvector. The map from $(\lambda ,\kappa )$ to $(T,D)$ has nonzero Jacobian determinant, so two independent parameter conditions produce this codimension-two bifurcation. Reflection removes quadratic terms; the appropriate initial comparison is with a reflection-symmetric cubic double-zero normal form, subject to the cubic degeneracy checked below.

For completeness, the printed vector field has a subcritical, rather than supercritical, Hopf bifurcation. In the mechanical coordinates $x=p$, $y=\dot{p}$, at $\lambda =3$ its cubic acceleration has $x^{2}y$ coefficient $b=6(\kappa -3)(\kappa +1)/(\kappa -1{)}^2$ and $y^3$ coefficient $d_3=-2/(\kappa -1{)}^2$. For a small harmonic oscillation, the averaged cubic change of $H=(y^2+{\omega }^2{x}^2)/2$ is ${\omega }^2{A}^4(b+3d_3{\omega }^2)/8$, whereThus a small unstable periodic orbit lies on the attracting side of the Hopf bifurcation. This calculation matters when comparing the original equations with the later assumed normal form.

At $(\sigma ,\mu )=(1,0)$ the origin's matrix is $\left(\begin{array}{cc}0& 0\\ 2& 0\end{array}\right)$: it has a double zero eigenvalue and one eigenvector. Trace and determinant vary independently with $\mu$ and $\sigma$ there, so two parameters are needed. The symmetry of an odd function removes quadratic terms, giving a reflection-symmetric cubic double-zero normal form. The quadratic nonlinearity required for a generic Bogdanov–Takens bifurcation vanishes.

Use a prime for differentiation with respect to the rescaled time. Direct substitution, with all rescaled variables written without tildes, givesAt $\epsilon =0$, the equations are $u^{\prime }=-sv+v^3/2$, $v^{\prime }=2u$. Fordifferentiation gives $H^{\prime }=2u(-sv+v^3/2)+(sv-v^3/2)2u=0$. This is the Hamiltonian blow-up of a reflection-symmetric double-zero point.

For $s>0$, the equilibrium points are a centre equilibrium at $(0,0)$ and saddles at $(0,\pm \sqrt{2s})$. The centre equilibrium has eigenvalues $\pm i\sqrt{2s}$; at either saddle equilibrium they are $\pm 2\sqrt{s}$. Levels $0<H<s^2/2$ contain closed inner ovals around the centre equilibrium. The saddle equilibrium level hasThese two branches form a heteroclinic cycle connecting the saddles. The branch with $u>0$ runs from the lower saddle equilibrium to the upper one because $v^{\prime }=2u>0$; the other runs back. Outside the potential well, trajectories are open. The right panel of the preceding figure uses the coordinates $(v,u)$ to display the well and these directed connections.

Set $A=s-1\ne 0$ and rescale $q=\sqrt{|A|}u$, $p=\dot{q}$. The reflection-symmetric cubic double-zero normal form becomesIt is invariant under $(q,p)\mapsto (-q,-p)$. Thus the large-$s$ case has $\sigma =1$ and the small-$s$ case $\sigma =-1$. At the origin the Jacobian matrix has determinant $\lambda$ and trace $\kappa$: it is a saddle for $\lambda <0$, stable for $\lambda >0,\kappa <0$, and unstable for $\lambda >0,\kappa >0$. In the latter two cases the discriminant ${\kappa }^2-4\lambda$ distinguishes nodes from foci; its zero is not an equilibrium-creation bifurcation.

The nonzero equilibria satisfy $p=0$, $q^2=\lambda /\sigma$. At either of them the determinant is $-2\lambda$ and the trace is $\kappa -2\lambda$. Therefore for $s\gg 1$, a pair of saddles exists when $\lambda >0$, while for $s\ll 1$, a pair of attracting equilibria exists when $\lambda <0,\kappa <2\lambda$, and a repelling pair when $\lambda <0,\kappa >2\lambda$. The repelling or attracting points may be nodes or foci. Their origin collision occurs on the pitchfork bifurcation line $\lambda =0$, away from $\kappa =0$. For fixed $\kappa \ne 0$, the scalar centre equation there beginsFor $\kappa <0$, the large-$s$ case is a subcritical pitchfork and the small-$s$ case a supercritical pitchfork. For $\kappa >0$, the scalar criticality reverses, but there is already an unstable transverse eigenvalue, so the full-plane branches have the stability just listed.

At the origin, $\kappa =0$, $\lambda >0$ is a Hopf bifurcation with frequency $\sqrt{\lambda }$. Averaging the leading weakly nonlinear oscillator gives the amplitude equationConsequentlyThese are respectively a supercritical Hopf bifurcation and a subcritical Hopf bifurcation, with $\lambda >0$ fixed and the cycle sufficiently small. The portraits change from a stable focus to an unstable focus surrounded by a stable cycle in the first case; in the second, a stable focus is surrounded by an unstable cycle before the focus becomes unstable and that cycle disappears.

The small-$s$ case has an additional pair of Hopf bifurcations at the nonzero equilibria:Their criticality includes quadratic terms and is not read off from the positive $q^{2}p$ term alone. Set $q=a+x$, $a^2=-\lambda$, and $\delta =\kappa -2\lambda$. ThenFor an oscillator $\ddot{x}=-{\omega }_H^{2}x+A_2{x}^2+B_{2}x\dot{x}+C_3{x}^3+D_3{x}^2\dot{x}$, the cubic radial coefficient is $D_3/8+A_2{B}_2/(8{\omega }_H^2)$. Here it is $2/8+(-3a)(4a)/(8\cdot 2a^2)=-1/2$. Thus both nonzero Hopf bifurcations are supercritical: for small $\delta >0$, each newly unstable well equilibrium is surrounded by a stable small cycle with $r^2\sim \delta$.

To constrain periodic orbits, use either the divergence or the energyFor $\sigma =1,\kappa \le 0$, the divergence has one strict sign except on a line, and the Bendixson-Dulac criterion excludes every nonconstant periodic orbit. For $\sigma =-1,\kappa \ge 0$, the same reasoning excludes every periodic orbit. When the divergence changes sign, this criterion makes no such exclusion; the Hopf cycles above are consistent with that restriction. In the large-$s$ case a periodic orbit also requires $\lambda >0$: if $\lambda \le 0$, a positive maximum of $q$ would have $\ddot{q}=-\lambda q+q^3>0$, or a negative minimum would have negative acceleration, both impossible. For $\lambda >0$ the same extremum argument confines a cycle to $|q|<\sqrt{\lambda }$, between the two saddle locations. The local bifurcation lines and representative portraits on both sides are summarized below; their global completion requires part (c).