**5.1. Flip bifurcations in** (*ks*, *N*, *τ*) **space**

This bifurcation is associated with the appearance of a negative real characteristic multiplier in the unit cycle boundary (*mi* = −1). Figure 9 (*a*) shows the evolution of characteristic multipliers when *N* is varied in a positive range for several *ks* values.

#### 16 Nonlinearity, Bifurcation and Chaos - Theory and Applications 42 Nonlinearity, Bifurcation and Chaos – Theory and Applications Floquet Exponents and Bifurcations in Switched Converters <sup>17</sup>
