Parametric continuation algorithm for time-delay systems and bifurcation caused by multiple characteristic roots

Stability analysis has been always a key issue in nonlinear dynamics and engineering applications, and it is still a challenging task for time-delay control systems when tuning some parameters like feedback gains and delays. In this paper, firstly we propose a parametric continuation algorithm for calculating the rightmost characteristic root(s), by solving initial value problems of a nonlinear differential equation associated with the characteristic function of the time-delay system. Then we study the static bifurcation caused by multiple characteristic roots that occurs in solving the associated nonlinear initial value problems and present an algorithm for fast calculation of the bifurcation points. We demonstrate the theoretical results with examples arising in vibration control.