Interaction of two systems with saddle-node bifurcations on invariant circles. I. Foundations and the mutualistic case

The saddle-node bifurcation on an invariant circle (SNIC) is one of the codimension-one routes to creation or destruction of a periodic orbit in a continuous-time dynamical system. It governs the transition from resting behaviour to periodic spiking in many class I neurons, for example. Here, as a first step towards theory of networks of such units the effect of weak coupling between two systems with a SNIC is analysed. Two crucial parameters of the coupling are identified, which we call \delta_1 and \delta_2. Global bifurcation diagrams are obtained here for the "mutualistic" case \delta_1 \delta_2 > 0. According to the parameter regime, there may coexist resting and periodic attractors, and there can be quasiperiodic attractors of torus or cantorus type, making the behaviour of even such a simple system quite non-trivial. In a second paper we will analyse the mixed case \delta_1 \delta_2 < 0 and summarise the conclusions of this study.