Hopf Bifurcations in a Watt Governor with a Spring

This paper pursues the study carried out in [10], focusing on the codimension one Hopf bifurcations in the hexagonal Watt governor system. Here are studied Hopf bifurcations of codimensions two, three and four and the pertinent Lyapunov stability coefficients and bifurcation diagrams. This allows to determine the number, types and positions of bifurcating small amplitude periodic orbits. As a consequence it is found an open region in the parameter space where two attracting periodic orbits coexist with an attracting equilibrium point.