SIR model with waning immunity

For susceptible, infective, and recovered populations $S,I,R$, mass-action infection coefficient $\beta$, recovery rate $\nu$, and immunity-loss rate $f$, the SIRS equations areThey conserve $S+I+R=N$ and have basic reproduction number ${\mathcal{R}}_0=\beta N/\nu$.

When $\beta N>\nu$ and $f>0$, the positive equilibrium isWriting $a=\beta I^{\ast }>0$, the reduced $(S,I)$ Jacobian has characteristic polynomialBoth roots have negative real part. Its discriminant is negative for sufficiently small $f$ and positive for sufficiently large $f$, giving respectively a stable focus and a stable node.