Boundary-equilibrium bifurcations in piecewise-smooth slow-fast systems

In this paper we study the qualitative dynamics of piecewise-smooth slow-fast systems (singularly perturbed systems) which are everywhere continuous. We consider phase space topology of systems with one-dimensional slow dynamics and one-dimensional fast dynamics. The slow manifold of the reduced system is formed by a piecewise-continuous curve, and the differentiability is lost across the switching surface. In the full system the slow manifold is no longer continuous, and there is an O(ε) discontinuity across the switching manifold, but the discontinuity cannot qualitatively alter system dynamics. Revealed phase space topology is used to unfold qualitative dynamics of planar slow-fast systems with an equilibrium point on the switching surface. In this case the local dynamics corresponds to so-called boundary-equilibrium bifurcations, and four qualitative phase portraits are uncovered. Our results are then used to investigate the dynamics of a box model of a thermohaline circulation, and the presence of a boundary-equilibrium bifurcation of a fold type is shown. © 2011 American Institute of Physics.