On Lyapunov stability and normal forms of nonlinear systems with a nonsemisimple critical mode. I. Zero eigenvalue

This work evolved from an endeavor to derive stability criteria and Poincare normal forms for nonlinear systems associated with a nonsemisimple zero (in Part I) or a pair of imaginary eigenvalues (in Part II). The stability criteria are given in terms of the noninteracting vector restoring and restraining forces, which are motivated from the Lienard equation for nonlinear mass-damper-spring system models. Lyapunov functions are constructed explicitly to fulfill the La Salle invariant principle for local or global stability assertion. It turned out that the Lyapunov functions thus constructed apply to a wide variety of linear stability scenarios. By introducing the notions of restoring and restraining forces, how the Lyapunov functions, the stability criteria and the system dynamics interplay are also exhibited. Two distinct classes of nonlinearities which we referred to as being arithmetical and transcendental, emerged. In some sense, such systems carry nonlinear lags coexisting with the linear lead. In particular, a characteristic of the nonlinear dynamics, a staircase structure, is discovered. Further extension is also made to incorporate nondestabilizing perturbation, which bears important bifurcational implications