Introduction to bifurcation theory

Bifurcation theory is a subject with classical mathematical origins. The modern development of the subject starts with Poincare and the qualitative theory of differential equations. In recent years, the theory has undergone a tremendous development with the infusion of new ideas and methods from dynamical systems theory, singularity theory, group theory, and computer-assisted studies of dynamics. As a result, it is difficult to draw the boundaries of the theory with any confidence. In this review, the objects in question will be parameterized families of dynamical systems (vector fields or maps). In the sciences these families commonly arise when one formulates equations of motion to model a physical system. We specifically analyze how the time evolution near an equilibrium can change as parameters are varied; for simplicity we consider the case of a single parameter only