Hopf Bifurcations in a Watt Governor With a Spring
  This paper pursues the study carried out by the authors in "Stability and Hopf bifurcation in a hexagonal governor system", focusing on the codimension one Hopf bifurcations in the hexagonal Watt governor differential system. Here are studied the codimension two, three and four Hopf bifurcations and the pertinent Lyapunov stability coefficients and bifurcation diagrams, ilustrating the number, types and positions of bifurcating small amplitude periodic orbits, are determined. As a consequence it is found an open region in the parameter space where two attracting periodic orbits coexist with an attracting equilibrium point. 
Jorge Sotomayor, Luis Fernando Mello and Denis de Carvalho Braga