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Nullclines and Equilibrium Points Analysis

This document discusses nullclines and equilibrium points for systems of nonlinear differential equations. It defines vertical and horizontal nullclines as curves where the vector field points purely vertically or horizontally. Nullclines divide the phase plane into regions and can indicate the direction solutions will move. Equilibrium points occur where nullclines intersect and there is no movement. An example nonlinear system is analyzed in detail, finding its nullclines, equilibrium points, and sketching the phase portrait to understand solution trajectories.

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100% found this document useful (1 vote)
156 views7 pages

Nullclines and Equilibrium Points Analysis

This document discusses nullclines and equilibrium points for systems of nonlinear differential equations. It defines vertical and horizontal nullclines as curves where the vector field points purely vertically or horizontally. Nullclines divide the phase plane into regions and can indicate the direction solutions will move. Equilibrium points occur where nullclines intersect and there is no movement. An example nonlinear system is analyzed in detail, finding its nullclines, equilibrium points, and sketching the phase portrait to understand solution trajectories.

Uploaded by

Arthus Rezende
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
  • Nullclines and Equilibrium Points

DAY 13

Nullclines and equilibrium points

In this section we develop a tool for understanding the large-scale


behavior of nonlinear systems. Suppose we have a system of the form
dx dy
= f (x, y) = g(x, y). (13.1) NL:generic
dt dt
The motion of solutions in the phase plane is given by the functions f
and g. In particular:
• f (x, y) determines the motion in the x direction at location
(x, y)
• g(x, y) determined the motion in the y direction at location
(x, y).
A nullcline is a curve in the phase plane where the vector field
defined by the di↵erential equation points in a particular direction.
For systems of the form (13.1), we focus on two special cases:
Vertical motion nullclines: are locations in the phase plane where
dx
= 0.
dt
This corresponds to points (x, y) such that f (x, y) = 0.
Horizontal motion nullclines: are locations in the phase plane where
dy
= 0.
dt
This corresponds to points (x, y) such that g(x, y) = 0.
The vertical and horizontal motion nullclines divide the phase plane
in to regions. Along the boundary of these regions we know that solu-
tions are either moving horizontally or vertically, depending on which
type of nullcline that boundary is. Using the di↵erential equation, we
can also determine which direction solutions are moving along various
107
108 13. NULLCLINES AND EQUILIBRIUM POINTS

sections of a nullcline. The result is that we understand, at a broad


level, the path that solutions may take from one region to the next.

Example 13.1. Consider the system from Example 45.1:


dx ⇣ x⌘ dy
= 2x 1 xy = y + xy.
dt 2 dt
The vertical motion nullclines are given by the condition
⇣ x⌘
0 = 2x 1 xy = x (2 x y) .
2
Thus we have two vertical motion nullclines:

x=0 and 2 x y = 0.

We first focus on the nullcline x = 0, which corresponds to the y


axis. Along this nullclines, the vertical motion is described by
dy
= y + (0)(y) = y.
dt
Thus we see that the motion of solutions along the y axis is upward
when y < 0 and downward when y > 0. There is no motion when
y = 0.
From this we deduce the following:
• Since the motion along the nullcline x = 0 is vertical, and the
nullcline itself is a vertical line, no solutions can cross this
nullcline.
• The point (x, y) = (0, 0) must be an equilibrium point, since
there is no motion in either x or y directions.
We now focus on the nullcline 2 x y = 0, which is a straight
line in the phase plane. Along this this nullcline, the vertical motion
can be deduced by writing the line as y = 2 x and substituting in to
the di↵erential equation for y. Thus the vertical motion is given by
dy
= (2 x) + x(2 x) = (x 2)(x 1),
dt
which is positive when 1 < x < 2 and is otherwise negative. Thus we
see that solutions curves in the phase plane crossing the line y = 2 x
must cross it in the upward direction when 1 < x < 2 and otherwise
13. NULLCLINES AND EQUILIBRIUM POINTS 109

must cross it in the downward direction. Notice that there is no motion


at points where x = 1 or x = 0. Thus we must have equilibrium points
at (x, y) = (1, 1) and (x, y) = (2, 0).
We now turn to the horizontal motion nullclines, which occur when

0= y + xy = y(x 1).

Thus we have two horizontal motion nullclines, at

y=0 and x = 1.

The nullcline y = 0 is the x axis. The horizontal motion along this


nullcline is given by
dx ⇣ x⌘
= 2x 1 = x(2 x).
dt 2
Thus we see that motion is to the right when 0 < x < 2 and is otherwise
to the left. Since the motion along y = 0 is horizontal, no solutions
can cross this nullcline.
The nullcline x = 1 is a vertical line passing through the equilibrium
at (1, 1). The horizontal motion along this nullcline is given by
✓ ◆
dx 1
= 2(1) 1 (1)y = 1 y.
dt 2
Thus when y < 1 the horizontal motion of solutions in the phase plane
along this nullcline is to the right, while when y > 1 the horizontal
motion of solutions is to the left.
In combination, the four nullclines above divide the phase plane in
to a number of regions. Since the system is a population model, we
focus on those regions in the first quadrant, labeling them as follows:
110 13. NULLCLINES AND EQUILIBRIUM POINTS

We now use this diagram to understand, in a very rough way, the


trajectory of typical solutions. First consider Region I. Solutions cannot
cross the nullclines x = 0 or y = 0, and the motion across the boundary
between Regions I and IV is downward. Thus a solution in Region I
either stays there (perhaps tending towards one of the equilibria) or
pass through the horizontal motion nullcline in to Region II.
Solutions in Region II can either tend to one of the equilibrium
points, or pass through the vertical motion nullcline in to Region III.
At first sight, we might tend towards one of the equilibrium points or
might tend o↵ to infinity, but if they leave they must do so by crossing
the horizontal motion nullcline in to Region IV. In fact, for a solution
in Region III we have y > 2 x and x > 0. Thus for such a solution
we have xy < x(2 x) and hence
dx ⇣ x⌘
< 2x 1 x(2 x) = 0.
dt 2
Thus solutions in Region III are always moving to the left, making it
more likely that they will cross in to Region IV.
13. NULLCLINES AND EQUILIBRIUM POINTS 111

Solutions in Region IV satisfy 0 < x < 1 and y > 0. Thus their


vertical motion satisfies
dy
= y + xy < y + y = 0.
dt
Thus solutions in this region are always moving downward. If they
leave Region IV, it must be by crossing the vertical motion nullcline in
to Region I.
In summary, it seems that solutions in the first quadrant must do
one of the following:

• tend towards an equilibrium solution,


• tend to infinity in the vertical direction in Region III, or
• follow a cycle

Region I ! Region II ! Region III ! Region IV ! Region I ! etc.

In fact, if we superimpose the vector field plot on top of the nullclines,


we see that this cyclical behavior is precisely what we expect from solu-
tions!

Using nullclines, we can get a good sense of how solutions behave


away from equilibrium points. However, the pictures in the previous
112 13. NULLCLINES AND EQUILIBRIUM POINTS

example don’t give us a very good sense of what happens near equilib-
rium points. Thus we turn to the analysis of equilibrium points next.

Activity 13.1. Construct the nullclines for the system


dx ⇣ x⌘ dy
= 8x 1 xy = 4y 2xy.
dt 8 dt
You should get a picture that looks roughly like this:

Finally, here is some Sage code that you can use to generate pic-
tures.
var ( ’x , y ’)

f = 8* x *(1 - x /8) - x * y
g = 4* y - 2* x * y

Vertical = implicit_plot (f ,( x , -1 ,9) ,(y , -1 ,9) , linewidth


=2 , color = ’ blue ’)
Horizontal = implicit_plot (g ,( x , -1 ,9) ,(y , -1 ,9) ,
linewidth =2 , color = ’ red ’)

Field = vector (( f , g ) ) / vector (( f , g ) ) . norm ()


Fieldplot = plot_vector _field ( Field ,( x , -1 ,9) ,(y , -1 ,9) )

Mainplot = Fieldplot + Vertical + Horizontal


13. NULLCLINES AND EQUILIBRIUM POINTS 113

Mainplot . show ()

Null-Only Exercise 13.1. Consider the system


dx dy
= x xy = 2y + 2xy
dt dt
(1) Find the equilibrium points of the system.
(2) Find the nullclines of the system.
(3) Draw a phase diagram for the system that includes the null-
clines and the equilibrium points.
(4) What can you say about solutions to this system?

NLE-Only Exercise 13.2. The following system of equations models the pop-
ulations (in millions) of two competing animal species:
8 ⇣
>
> dx x⌘
>
> = 2x 1 xy
< dt 2
> ⇣
>
>
> dy y⌘
: = 4y 1 3xy.
dt 4
(1) Find the equilibrium points of the system.
(2) Find the nullclines of the system.
(3) Draw a phase diagram for the system that includes the null-
clines and the equilibrium points.
(4) What can you say about solutions to this system?

Common questions

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Nullclines are instrumental in predicting trajectory directions and possible endpoints in the phase plane. Near equilibrium points, they guide which paths are permissible for the system's evolution. Since nullclines represent places where dx/dt=0 or dy/dt=0, solutions can only move along or between these lines, dictating upward, downward, or no motion in these regions. This knowledge helps predict whether trajectories are stable and tend toward equilibrium points or lead to perpetual cycles between regions. For instance, a cyclical pattern through Regions I to IV suggests potential repeated cycles rather than convergence to a single equilibrium .

Equilibrium points occur at intersections of all motion nullclines where both derivatives dx/dt and dy/dt are zero, indicating no movement in either direction. For example, in the system described, equilibrium points such as (0, 0), (1, 1), and (2, 0) are found at the intersections of particular nullclines, such as x = 0 with y = 0 and y = 2 - x, symbolizing points of balance in the corresponding system .

A cyclical pattern across regions I-IV suggests solutions do not stabilize at equilibrium but instead perpetuate in closed loops through these regions. Such cycles indicate that solutions persistently transition between states defined by motion nullclines, often influenced by external factors modeled explicitly by the system equations. This cyclical trajectory suggests an inherent dynamism in the system, possibly modeling phenomena like recurrent environmental interactions or sustained oscillations in associated physical or biological systems. Hence, long-term behavior is characterized by repeatability rather than convergence .

In the first quadrant, behavior varies by region due to nullclines acting as transitional boundaries. In Region I, solutions are constrained by horizontal and vertical nullclines, leading them potentially toward equilibrium points or into Region II. Region II solutions can shift toward equilibrium or move into Region III, hinting at potential infinity trends if crossing nullclines. Region III exhibits leftward motion, making it likely to transit into Region IV. Region IV solutions trend downward across nullclines back into Region I. These dynamic patterns suggest closed-loop trajectories and provide insight into long-term systemic behavior without crossing nullclines .

Partitioning the phase plane using nullclines helps in understanding the global behavior of solutions in a nonlinear system. Nullclines are curves where the directional derivatives dx/dt or dy/dt are zero, thus identifying where horizontal or vertical motions are restricted. By dividing the plane, we can predict the qualitative behavior of the trajectory, such as which equilibrium points solutions might approach or which regions the solutions might transition between. For example, Region I's boundaries help determine that solutions cannot cross certain nullclines, implying they must either remain within that region or transition to another under specific conditions .

Predicting behavior near equilibrium points using nullclines is complex due to potential for bifurcation, sensitivity to initial conditions, and nonlinearities in defining equations. Nullclines can suggest paths, but small perturbations can lead to diverse outcomes due to local instabilities or changing field vectors. Additionally, the proximity to equilibrium deters a clear direction from nullclines alone, requiring finer analysis or numerical simulations to understand localized interactions, as nullclines primarily offer broader trajectory insights rather than precise navigation within equilibrium neighborhoods .

In Region IV, solutions are always moving downward because the vertical motion satisfies dy/dt = -y + xy < -y + y = 0. Given 0 < x < 1 and y > 0, this region's equations ensure negative net vertical velocity, pushing solutions towards the bottom boundary. Therefore, solutions cannot remain indefinitely; they must either reach the y-axis or cross the vertical nullcline into another region like Region I. Directional bias from nullclines thus dictates consistent motion trends specific to Region IV .

The system represents interacting populations possibly engaging in competition. Equilibrium points indicate stable population states, where no net growth or decline occurs, such as at (0,0), (2,0), etc. Nullclines reveal zones of directional population change; for instance, dx/dt nullclines show points where one species growth stagnates despite the other. Solutions traversing these regions could depict oscillations or steady states based on species interaction intensity, predicted by changes in sign within derivative equations. Thus, nullclines analytically facilitate predictions about equilibrium stability and probable population dynamics in ecological contexts .

Understanding direction along nullclines elucidates how populations interact dynamically. If a nullcline represents dx/dt = 0 or dy/dt = 0, it delineates conditions under which a population's growth halts temporarily, guiding analytical expectations of movement. Knowing whether solutions ascend, descend, or oscillate around these nullclines helps predict transitions between population states, potential equilibrium stability, and persistence of cyclical behaviors. It enables anticipation of whether populations can coexist, outcompete, or stabilize over time, as the directional bias hints at probable trajectories and final states .

Phase diagrams graphically represent system dynamics by illustrating nullclines, equilibrium points, and trajectories in the phase plane. They provide qualitative insight into possible states of the system, showing where solutions might settle into equilibrium or travel in cyclical patterns. This aids in visualizing how solutions transition between different regions divided by nullclines, clarifying directional trends and stability. Through such diagrams, complex behavior becomes understandable, facilitating predictions of system trajectories and interactions between phase variables .

DAY 13
Nullclines and equilibrium points
In this section we develop a tool for understanding the large-scale
behavior of nonl
108
13. NULLCLINES AND EQUILIBRIUM POINTS
sections of a nullcline. The result is that we understand, at a broad
level, the pa
13. NULLCLINES AND EQUILIBRIUM POINTS
109
must cross it in the downward direction. Notice that there is no motion
at points w
110
13. NULLCLINES AND EQUILIBRIUM POINTS
We now use this diagram to understand, in a very rough way, the
trajectory of typic
13. NULLCLINES AND EQUILIBRIUM POINTS
111
Solutions in Region IV satisfy 0 < x < 1 and y > 0. Thus their
vertical motion sati
112
13. NULLCLINES AND EQUILIBRIUM POINTS
example don’t give us a very good sense of what happens near equilib-
rium points.
13. NULLCLINES AND EQUILIBRIUM POINTS
113
Mainplot.show ()
Null-Only
Exercise 13.1. Consider the system
dx
dt = x −xy
dy
dt =

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