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in the 1970s. It considers the special case where the long-run stable equilibrium can be identified as the minimum of a smooth, well-defined potential function (Lyapunov function).Small changes in certain parameters of a nonlinear system can cause equilibria to appear or disappear, or to change from attracting to repelling and vice versa, leading to large and sudden changes of the behaviour of the system. However, examined in a larger parameter space,

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