Figure 10:

$\omega ({\max }_k({\theta }_k^p+{\theta }_k^n))$, for several values of ω and q, for two different systems. If this is greater than 1, the system displays skipped cycles. (a) K = 1, $M=\frac{1}{s+1}$, F = 1. (b) K = 1, $M=\frac{K_m}{I_m{s}^2+B_{m}s+K_m}$, with K_m = 1, I_m = 1, B_m = 1. The systems were solved forward in time for multiple values of initial conditions z(0) and ϕ.