At present, there are several known bifurcations resulting in the onset of chaotic motions in dynamical systems. For smooth dynamical systems, these are a sequence of period-multiplying bifurcations [1], bifurcation in a system with a homoclinic curve of a saddle-focus equilibrium [2, pp. 317-335], bifurcation in a system with a structurally unstable homoclinic curve [3], bifurcation of a quasiperiodic motion [4, pp. 117-151 of the Russian translation], and intermittency [5]. Only the bifurcation related to the exit of a periodic motion to the boundary of the system smoothness failure was considered [6-9] for nonsmooth dynamical systems.
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