Bifurcation curves in the -plane. and . The right plot shows a detail of the first quadrant only. Blue shows the conditions for fold or transcritical bifurcations (Equations 14a and 14b) and red and magenta depict Hopf bifurcations; equations and , respectively. The gray area represents the stability region as in Corollary 4. The full stability region is hatched in the right diagram.