where primes denote derivatives with respect to time
and ,,, and are real constants. The equation arose in weakly nonlinear
analyses of fluid-flow instability (Stuart 1960, Watson 1960).
If
and , the nonzero equilibrium radius is . The derivative
of the radial right-hand side at is ,
so nearby radii approach .
If the angular speed is nonzero, the circle
of radius
is an attracting limit cycle. When and ,
this cycle emerges from the origin as passes through zero, giving a supercritical Hopf
bifurcation (Guckenheimer and Holmes 1983, pp. 150-154).