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Traveling waves for degenerate diffusive equations on networks

  • Received: 01 December 2016 Revised: 01 April 2017
  • Primary: 35K65; Secondary: 35C07, 35K55, 35K57

  • In this paper we consider a scalar parabolic equation on a star graph; the model is quite general but what we have in mind is the description of traffic flows at a crossroad. In particular, we do not necessarily require the continuity of the unknown function at the node of the graph and, moreover, the diffusivity can be degenerate. Our main result concerns a necessary and sufficient algebraic condition for the existence of traveling waves in the graph. We also study in great detail some examples corresponding to quadratic and logarithmic flux functions, for different diffusivities, to which our results apply.

    Citation: Andrea Corli, Lorenzo di Ruvo, Luisa Malaguti, Massimiliano D. Rosini. Traveling waves for degenerate diffusive equations on networks[J]. Networks and Heterogeneous Media, 2017, 12(3): 339-370. doi: 10.3934/nhm.2017015

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  • In this paper we consider a scalar parabolic equation on a star graph; the model is quite general but what we have in mind is the description of traffic flows at a crossroad. In particular, we do not necessarily require the continuity of the unknown function at the node of the graph and, moreover, the diffusivity can be degenerate. Our main result concerns a necessary and sufficient algebraic condition for the existence of traveling waves in the graph. We also study in great detail some examples corresponding to quadratic and logarithmic flux functions, for different diffusivities, to which our results apply.



    Plankton includes plants and animals that float freely in some fresh water bodies, and almost all aquatic life is based on plankton [1]. Aquatic ecosystems are affected by many factors, including physical and chemical signals in the environment, plankton predation and competition [2,3]. Many scholars have carried out analysis concerning the impact of environment on the ecosystem and the treatment of sewage [4,5,6]. We also know how important plankton itself is to the wealth of marine ecosystems and ultimately to the planet itself. On the one hand, plankton species have positive effects on the environment, such as providing food for marine life, oxygen for animal life; on the other hand, it have harmful effects, such as economic losses to fisheries and tourism due to algae blooms [7,8].

    In recent years, different models of plankton have been established and studied, for example, model with two harmful phytoplankton [9], models with time delays [10,11] and stochastic models [12,13,14]. Toxins produced by harmful phytoplankton tend to be concentrated at higher levels in the food web, as they can spread through the marine food web, affecting herbivores at higher nutrient levels, reaching fish, and through them eventually reaching marine mammals, even in seabirds [9,11]. There is also some evidence that the occurrence of toxin-producing phytoplankton is not necessarily harmful, but rather helps maintain a stable balance of nutrient dynamics through the coexistence of all species. These results suggest that toxin-producing phytoplankton (TPP) play an important role in the growth of zooplankton populations [15].

    It was shown that aquatic plant systems not only have extraordinary memories of climatic events, but also exhibit phenomenological responses based on memory [16,17,18]. The authors noted that environmental factors often alter the expression of chromatin in multiple responsive genes in [19]. Environment-induced chromatin markers are at certain sites and is transmitted by cell division, allowing plants to acquire memories of environmental experiences. This ensures that the plant can adapt to changes in its environment or perform better if the event occurs again. In some cases, it is passed on to the next generation, namely, epigenetic mechanisms. This mechanism is crucial for plants' stress memory and adaptation to the environment, suggesting that plants do form memory and defense mechanisms in certain environments. In addition, a large amount of zooplankton chemical signal learning and corresponding reactions have been documented for aquatic systems [20,21]. In summary, such memory and genetic characteristics can not be neglected for plankton systems.

    As we all know, fractional order derivatives are a good tool for describing the memory and genetic properties of various materials and processes. In other words, the application of fractional order dynamical systems can fully reflect some long-term memory and non-local effects. That is, fractional differential equations have an advantage over classical integer differential equations for describing such systems. In recent years, more and more researchers began to study the qualitative theory and numerical solution of fractional order biological model [22,23,24]. The main reason is that fractional order equations are naturally related to memory systems that exist in most biological systems [25,26]. In addition, fractional-order derivative has also been widely studied and applied in physics[27], engineering [28], biology [29] and many other fields [30,31,32]. At present, there are more than six definitions of fractional derivative, among which Riemann-Liouville and Caputo derivatives are the most commonly used [33]. In the case of fractional Caputo derivative, the initial conditions are expressed by the values of the unknown function and its integer derivative with clear physical meaning [34]. So we will adapt the Caputo's definition in our paper.

    The interactions between phytoplankton and zooplankton do not occur instantaneously in real ecosystems. Instead, the response of zooplankton to contacts with phytoplankton is likely to be delayed due to gestation. For example, in [35], the authors discussed Hopf bifurcation in the presence of time delay required for toxin-phytoplankton maturation. The universality of time-delay coupled system indicates its importance, applicability and practicability in a wide range of biological systems [36,37]. In fact, time delay may change the qualitative behavior of dynamic system [38,39].

    In [40], the authors considered a fractional nutrient-phytoplankton-zooplankton system as follows

    {DαX(t)=x0aXb1XY+c1Y+c2Z,DαY(t)=b2XYd1YZe+Yc3Y,DαZ(t)=d2YZe+YfYZc4Z. (1.1)

    Based on the above model, we classify phytoplankton into non-toxic phytoplankton and toxic phytoplankton and put forward an improved fractional order four-dimensional ecological epidemiological model with delay. The system is established as follows:

    {DαX(t)=ΛμX(t)b1X(t)Y1(t)b2X(t)Y2(t)+c1Y1(t)+c2Y2(t)+c3Z(t),DαY1(t)=k1b1X(t)Y1(t)η1Y1(t)Z(t)h1Y1(t)Y2(t)μ1Y1(t),DαY2(t)=k2b2X(t)Y2(t)η2Y2(t)Z(t)h2Y1(t)Y2(t)μ2Y2(t),DαZ(t)=θ1η1Y1(tτ)Z(tτ)+θ2η2Y2(tτ)Z(tτ)δY2(t)Z(t)μ3Z(t), (1.2)

    subjected to the biologically feasible initial condition:

    X(0)0, Y1(t)=ϕ(t)0, Y2(t)=ψ(t)0, Z(t)=ζ(t)0,t[τ,0], (1.3)

    where ϕ(t), ψ(t) and ζ(t) are continuous function defined on t[τ,0].

    The meaning of state variables and parameters are listed in Table 1; Dα (0<α<1) denotes Caputo fractional differential operator, and the model are based on the following scenarios:

    Table 1.  Description of state variables and parameters in the system (1.2).
    variables Descriptions
    X(t) concentration of nutrient population at time t
    Y1(t) concentration of phytoplankton population at time t
    Y2(t) concentration of toxic phytoplankton population at time t
    Z(t) concentration of zooplankton population at time t
    Parameters Descriptions Default value
    Λ Constant input of nutrient [0.5, 3]
    b1 Nutrient uptake rate for the phytoplankton population [0, 3]
    b2 Nutrient uptake rate for the toxic phytoplankton population [0, 3]
    k1 Nutrient-phytoplankton conversion rate (0, 1)
    k2 Nutrient-toxic phytoplankton conversion rate (0, 1)
    c1 Nutrient recycling rate after the death of phytoplankton (0, 0.1)
    c2 Nutrient recycling rate after the death of toxic phytoplankton (0, 0.1)
    c3 Nutrient recycling rate after the death of zooplankton (0, 0.7)
    η1 Maximal zooplankton ingestion rate (0, 3)
    η2 Maximal zooplankton ingestion rate (0, 2.5)
    θ1 Maximal phytoplankton-zooplankton conversion rate (0, 0.7)
    θ2 Maximal toxic phytoplankton-zooplankton conversion rate (0, 0.8)
    μ Rate of nutrient loss (0, 1.5)
    μ1 Phytoplankton mortality rate (0, 1)
    μ2 Toxic phytoplankton mortality rate (0, 1)
    μ3 Zooplankton death rate (0, 0.6)
    δ Rate of zooplankton decay due to toxin producing phytoplankton (0, 0.2)
    h1 competition effect for phytoplankton (0, 0.3)
    h2 competition effect for toxic phytoplankton (0, 0.3)

     | Show Table
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    (H1) X(t), Y1(t), Y2(t) and Z(t) represent nutrient population, phytoplankton population, toxic phytoplankton population and zooplankton population, respectively.

    (H2) In real ecosystems, phytoplankton compete with each other for essential resources: nutrients and light. So as the model in the [41], we assume that, for nutrient X(t), phytoplankton population Y1(t) is in competition with toxic phytoplankton population Y2(t), h1 and h2 represent the influence on Y1(t) and Y2(t) in the competition, respectively.

    (H3) Zooplankton do not grow instantaneously after consuming phytoplankton, and pregnancy of predators requires a discrete time delay τ.

    (H4) Zooplankton populations feed only on phytoplankton, and only some of the dead phytoplankton and zooplankton are recycled into nutrients.

    (H5) The toxic phytoplankton has both positive and negative effect on zooplankton, corresponding to the term θ2η2Y2(tτ)Z(tτ) and δY2(t)Z(t) in the last equation of the system(1.2).

    The above assumption (H5) is based on the result in [42]. In fact, the authors concluded that the food selection mechanism of plankton may not yet mature. When different algae of the same species (toxic and non-toxic) coexist, some zooplankton may have poor ability to select between toxic and non-toxic algae, and even show a slight preference for toxic strains.

    The present paper is organized as follows. In section 2, some preliminaries are presented. In section 3, qualitative analysis of the system is performed. In section 4, some numerical examples and simulations are exploited to verify the theoretical results. In the last section, some conclusions and discussions are provided.

    For convenience, we list some of the basic definitions and lemmas of the fractional calculus. In fractional-order calculus, there are many fractional-order integration and fractional-order differentiation that have been defined, for example, the Grunwald-Letnikov (GL) definition, the Riemann-Liouville (RL) definition and the Caputo definition. Since the initial condition is the same as the form of integral differential equation, we will adopt the definition of Caputo in this paper.

    Definition 2.1. [34] The Riemann-Liouville fractional integral of order α>0 for a function f:R+R is defined by

    0Dαtf(t)=1Γ(α)t0(ts)α1f(s)ds, t0.

    Based on this definition of Riemann-Liouville fractional integral, the fractional-order derivative in Riemann-Liouville sense and Caputo sense are given.

    Definition 2.2. [34] The Riemann-Liouville fractional derivative of order α>0 for a function f:R+R is defined by

    RL0Dαtf(t)=dkdtk(0D(kα)tf(t))=1Γ(kα)dkdtkt0(ts)kα1f(s)ds, t0,

    where k1α<k, kN and Γ() is the Gamma function, Γ(α)=+0tα1etdt.

    In particular, when 0<α<1, we have

    RL0Dαtf(t)=1Γ(1α)ddtt0(ts)αf(s)ds.

    Definition 2.3. [34] The Caputo fractional derivative of order α>0 for a function f:R+R is defined by

    C0Dαtf(t)=0D(kα)tf(k)(t)=1Γ(kα)t0(ts)kα1f(k)(s)ds,t0,

    where k1α<k, kN and f(m)(t) is the m-order derivative of f(t). In particular, when 0<α<1, we have

    C0Dαtf(t)=1Γ(1α)t0f(s)(ts)αds.

    Definition 2.4. [34] The two-parameter Mittag-Leffler function is defined by

    Eα,β(z)=+i=0ziΓ(αi+β),α>0,β>0.

    When β=1, the two-parameter Mittag-Leffler function becomes to the one-parameter Mittag- Leffler function, i.e.

    Eα(z)=Eα,1(z)=+i=0ziΓ(αi+1),α>0.

    Theorem 2.5. [43] Consider the following commensurate fractional-order system:

    dαxdtα=f(x),x(0)=x0,

    with 0<α<1 and xRn. The equilibrium points of the above system are calculated by solving the equation: f(x)=0. These points are locally asymptotically stable if all eigenvalues λi of the Jacobian matrix evaluated at the equilibrium points satisfy the inequality: |arg(λi)|>απ2.

    Since the proof of the positivity and boundedness of the solution of the system(1.2) is similar to Theorem 2 and Theorem 3 in the Ref.[38], we will not prove it here.

    The equilibriums of model (1.2) are obtained by solving the following algebraic system

    {ΛμXb1XY1b2XY2+c1Y1+c2Y2+c3Z=0,k1b1XY1η1Y1Zh1Y1Y2μ1Y1=0,k2b2XY2η2Y2Zh2Y1Y2μ2Y2=0,θ1η1Y1Z+θ2η2Y2ZδY2Zμ3Z=0. (3.1)

    By simple calculation, we obtain seven equilibriums of system (1.2), namely:

    (1) E0=(X(0), 0, 0, 0) with X(0)=Λμ.

    (2) E1=(X(1), Y(1)1, 0, 0) with X(1)=μ1k1b1, Y(1)1=μ(1R1)b1(c1R1b1X(0)1), where R1=X(0)X(1). And the feasibility conditions for E1 are simplified as:

    X(0)<X(1)<c1b1orc1b1<X(1)<X(0).

    (3) E2=(X(2), 0, Y(2)2, 0) with X(2)=μ2k2b2, Y(2)2=μ(1R2)b2(c2R2b2X(0)1), where R2=X(0)X(2). And the feasibility conditions for E2 are simplified as:

    X(0)<X(2)<c2b2orc2b2<X(2)<X(0).

    (4) E3=(X(3), Y(3)1, Y(3)2, 0) with Y(3)1=k2b2X(3)μ2h2, Y(3)2=k1b1X(3)μ1h1, and X(3) is uniquely determined by the following equation:

    a1X2+a2X+a3=0, (3.2)

    where

    a1=b1b2(h1k2+h2k1)<0,a2=μh1h2+μ2b1h1+μ1b2h2+c1h1b2k2+c2h2k1b1,a3=Λh1h2μ2c1h1μ1c2h2.

    If Λ>μ2c1h2+μ1c2h1, then Descartes rule of sign ensures that the above Eq.(3.2) possesses a uniquely positive root. And the feasibility conditions for E3 are simplified as:

    Λ>μ2c1h2+μ1c2h1,X(3)>X(1)andX(3)>X(2).

    (5) E4=(X(4), Y(4)1, 0, Z(4)) with

    X(4)=Λη1+c1η1Y(4)1μ1c3μη1+b1η1Y(4)1k1b1c3,Y(4)1=μ3θ1η1,Z(4)=k1b1X(4)μ1η1.

    The feasibility conditions of E4 are simplified as:

    R3=X(4)X(1)>1.

    (6) E5=(X(5), 0, Y(5)2, Z(5)) with

    X(5)=Λη2+c2η2Y(5)2μ2c3μη2+b2η2Y(5)2k2b2c3,Y(5)2=μ3θ2η2δ,Z(5)=k2b2X(5)μ2η2.

    Considering the biological background, we assume θ2η2>δ is reasonable, and the feasibility conditions for E5 are simplified as:

    R4=X(5)X(2)>1.

    (7) E6=(X(6), Y(6)1, Y(6)2, Z(6)) with

    Y(6)1=k2b2X(6)η2Z(6)μ2h2,Y(6)2=k1b1X(6)η1Z(6)μ1h1,

    Z(6)=(θ1η1h1k2b2+θ2η2h2k1b1δh2k1b1)X(6)+δh2μ1θ1η1h1μ2θ2η2h2μ1μ3h1h2η1(θ1η2h1+θ2η2h2δh2). And X(6) is uniquely determined by the following equation:

    b1X2+b2X+b3=0, (3.3)

    where

    b1=(b1h1η2+b2h2η1)(θ1η1h1k2b2+θ2η2h2k1b1δh2k1b1)b1b2η1(h1k2+h2k1)(θ1η2h1+θ2η2h2δh2),b2=(b1h1η2+b2h2η1)(δh2μ1θ1η1h1μ2θ2η2h2μ1μ3h1h2)+(c3h1h2c1h1η2c2h2η1)(θ1η1h1k2b2+θ2η2h2k1b1δh2k1b1)+η1(θ1η2h1+θ2η2h2δh2)(b1h1μ2+b2h2μ1+c1h1k2b2+c2h2k1b1μh1h2),b3=(c3h1h2c1h1η2c2h2η1)(δh2μ1θ1η1h1μ2θ2η2h2μ1μ3h1h2)+(θ1η2h1+θ2η2h2δh2)(Λh1h2c1h1μ2c2h2μ1),

    If b1b3<0, then Descartes rule of sign ensures that the above Eq.(3.3) possesses a uniquely positive root. The feasibility conditions for E6 are simplified as: Y(6)1,Y(6)2,Z(6)>0,b1b3<0.

    Remark 3.1. (1) The necessary conditions for the existence of E3 are R1>1 and R2>1.

    (2) Because of the complexity of computation, we have not obtain the exact formula of positive equilibrium E6.

    In this subsection we discuss the stability of each equilibrium when τ = 0.

    Obviously, the eigenvalues of the Jacobian matrix of system (1.2) at equilibrium E0 are λ1=μ<0, λ2=μ3<0, λ3=k1b1X(0)μ1, λ4=k2b2X(0)μ2, so we get the following result.

    Theorem 3.2. If R1<1 and R2<1, then the disease-free equilibrium E0 is locally asymptotically stable and it is unstable if R1>1 or R2>1.

    The Jacobian matrix of system (1.2) at equilibrium E1 is

    (μb1Y(1)1b1X(1)+c1b2X(1)+c2c3k1b1Y(1)10h1Y(1)1η1Y(1)100k2b2X(1)h2Y(1)1μ20000θ1η1Y(1)1μ3).

    The characteristic equation at the equilibrium E1 is

    [λ(k2b2X(1)h2Y(1)1μ2)][λ+μ3θ1η1Y(1)1][λ2+(μ+b1Y(1)1)λ+k1b1Y(1)1(b1X(1)c1)]=0. (3.4)

    Thus, we get the following result.

    Theorem 3.3. If 1<R1<X(0)b1c1, R2<R1 and μ3>θ1η1Y(1)1, then the equilibrium E1 is locally asymptotically stable.

    The Jacobian matrix of system (1.2) at equilibrium E2 is

    (μb2Y(2)2b1X(2)+c1b2X(2)+c2c30k1b1X(2)h1Y(2)2μ100k2b2Y(2)2h1Y(2)20η2Y(2)2000θ2η2Y(2)2δY(2)2μ3).

    The characteristic equation at the equilibrium E2 is

    [λ(k1b1X(2)h1Y(2)2μ1)][λ+δY(2)2+μ3θ2η2Y(2)2][λ2+(μ+b2Y(2)2)λ+k2b2Y(2)2(b2X(2)c2)]=0. (3.5)

    So we get the following result.

    Theorem 3.4. If 1<R2<X(0)b2c2, R2>R1 and μ3>(θ2η2f)Y(2)2, then the equilibrium E2 is locally asymptotically stable.

    The Jacobian matrix of system (1.2) at equilibrium E3 is

    (μb1Y(3)1b2Y(3)2b1X(3)+c1b2X(3)+c2c3k1b1Y(3)10h1Y(3)1η1Y(3)1k2b2Y(3)2h2Y(3)20η2Y(3)2000θ1η1Y(3)1+θ2η2Y(3)2δY(3)2μ3),

    with the characteristic equation

    [λ(θ1η1Y(3)1+θ2η2Y(3)2δY(3)2μ3)](λ3+A1λ2+A2λ+A3)=0, (3.6)

    where

    A1=μ+b1Y(3)1+b2Y(3)2,A2=k1b1Y(3)1(b1X(3)c1)+k2b2Y(3)2(b2X(3)c2)h1h2Y(3)1Y(3)2,A3=h1h2Y(3)1Y(3)2(μ+b1Y(3)1+b2Y(3)2)h1k2b2Y(3)1Y(3)2(b1X(3)c1)h2k1b1Y(3)1Y(3)2(b1X(3)c1).

    Denote D(P) denote the discriminant of a polynomial

    Q(λ)=λ3+A1λ2+A2λ+A3. Then

    D(Q)=18A1A2A3+(A1A2)24A3A314A3227A33.

    If μ3>θ1η1Y(3)1+θ2η2Y(3)2δY(3)2, in order to discuss the stability of the equilibrium E3, we get the following result by use of the same method as in Ref [44].

    Proposition 3.5. The equilibrium E3 is asymptotically stable if one of the following conditions holds for polynomial Q and D(Q):

    (1)D(Q)>0,A1>0,A3>0 and A1A2>A3.

    (2)D(Q)<0,A10,A20,A30 and α<23.

    The Jacobian matrix of system (1.2) at equilibrium E4 is

    (m11m12m13m14m210m23m2400m3300m42m43m44),

    where

    m11=μb1Y(4)1,m12=b1X(4)+c1,m13=b2X(4)+c2,m14=c3,m21=k1b1Y(4)1,m23=h1Y(4)1m24=η1Y(4)1,m33=k2b2X(4)η2Z(4)h2Y(4)1μ2,m42=θ1η1Z(4),m43=θ2η2Z(4)δZ(4),m44=θ1η1Y(4)1μ3.

    The characteristic equation at the equilibrium E4 is

    [λ(k2b2X(4)η2Z(4)h2Y(4)1μ2)][λ3+B1λ2+B2λ+B3]=0, (3.7)

    where

    B1=m11m44,B2=m11m44m12m21m24m42,B3=m11m24m42+m12m21m44m14m21m42.

    Denote D(P) denote the discriminant of a polynomial

    Q(λ)=λ3+B1λ2+B2λ+B3. Then

    D(Q)=18B1B2B3+(B1B2)24B3B314B3227B33.

    If μ2>k2b2X(4)η2Z(4)h2Y(4)1, in order to discuss the stability of the equilibrium E4, we get the following result by use of the same method as in Ref [44].

    Proposition 3.6. The equilibrium E4 is asymptotically stable if one of the following conditions holds for polynomial Q and D(Q):

    (1)D(Q)>0,B1>0,B3>0 and B1B2>B3.

    (2)D(Q)<0,B10,B20,B30 and α<23.

    The Jacobian matrix of system (1.2) at equilibrium E5 is

    (ˆm11ˆm12ˆm13ˆm140ˆm2200ˆm31ˆm320ˆm340ˆm42ˆm43ˆm44),

    where

    ˆm11=μb2Y(5)2,ˆm12=b1X(5)+c1,ˆm13=b2X(5)+c2,ˆm14=c3,ˆm22=k1b1X(5)η1Z(5)h1Y(5)2μ1,ˆm31=k2b2Y(5)2ˆm32=h2Y(5)2,ˆm34=η2Y(5)2,ˆm42=θ1η1Z(5),ˆm43=θ2η2Z(5)δZ(5),ˆm44=θ2η2Y(5)2δY(5)2μ3.

    The characteristic equation at the equilibrium E5 is

    [λ(k1b1X(5)η1Z(5)h1Y(5)2μ1)][λ3+C1λ2+C2λ+C3]=0, (3.8)

    where

    C1=ˆm11ˆm44,C2=ˆm11ˆm44ˆm13ˆm31ˆm34ˆm43,C3=ˆm11ˆm34ˆm43+ˆm13ˆm31ˆm44ˆm14ˆm31ˆm43.

    Denote D(P) denote the discriminant of a polynomial

    Q(λ)=λ3+C1λ2+C2λ+C3. Then

    D(Q)=18C1C2C3+(C1C2)24C3C314C3227C33.

    If μ1>k1b1X(5)η1Z(5)h1Y(5)2, in order to discuss the stability of the equilibrium E5, we get the following result by use of the same method as in Ref [44].

    Proposition 3.7. The equilibrium E5 is asymptotically stable if one of the following conditions holds for polynomial Q and D(Q):

    (1)D(Q)>0,C1>0,C3>0 and C1C2>C3.

    (2)D(Q)<0,C10,C20,C30 and α<23.

    Theorem 3.8. The equilibrium E6 is locally asymptotically stable if the following conditions hold:

    (H5) X(6)>max{c1b1, c2b2},

    (H6) k1b1η1<k2b2η2,

    (H7) k3>η2(μ+b1Y(6)1+b2Y(6)2)c3b2,

    (H8) (e1e2e3)e3e4e21>0.

    Proof. The Jacobian matrix of system (1.2) at equilibrium E6 is

    (a11a12a13a14a210a23a24a31a320a340b42a43+b43a44+b44)

    where

    a11=μb1Y(6)1b2Y(6)2,a12=b1X(6)+c1,a13=b2X(6)+c2,a14=c3,a21=k1b1Y(6)1,a23=h1Y(6)1a24=η1Y(6)1,a31=k2b2Y(6)2,a32=h2Y(6)2a34=η2Y(6)2,a43=fZ(6),a44=fY(6)2μ3,b42=θ1η1Z(6),b43=θ2η2Z(6),b44=θ1η1Y(6)1+θ2η2Y(6)2.

    The characteristic equation at the equilibrium E6 is

    λ4+e1λ3+e2λ2+e3λ+e4=0, (3.9)

    where

    e1=a11>0,e2=a13a31a12a21a23a32a34a43a24b42a34b43,e3=a11a23a32a12a23a31a13a21a32+a11a34a43a14a31a43a24a32a43+a11a24b42a14a21b42+a11a34b43a14a31b43a23a34b42a24a32b43,e4=a11a24a32a43+a12a21a34a43a12a24a31a43a14a21a32a43+a11a23a34b42+a11a24a32b43+a12a21a34b43a12a24a31b43a13a21a34b42+a13a24a31b42a14a21a32b43a14a23a31b42.

    By simple calculation, if X(6)>max{c1b1, c2b2}, then e1e2>e3; if k3>η2(μ+b1Y(6)1+b2Y(6)2)c3b2 and k1b1η1<k2b2η2, then e4>0. In summary, the condition of the Routh-Hurwitz criterion above is satisfied for Eq.(3.9), that is,

    e1>0, e1e2>e3, (e1e2e3)e3e4e21>0, e4>0,

    hold. So, all the roots of this Eq.(3.9) have negative real part. This ends the proof.

    Remark 3.9 In Theorem (3.8), (H5)-(H8) is a sufficient condition for equilibrium E6 to be stable, and the necessary and sufficient condition for E6 to be stable is all roots of Eq.(3.9) satisfy |arg(λi)|>απ2.

    In this subsection, according to the research methods in literature [22,38,45], we study the Hopf bifurcation with time delay as the parameter.

    we will analyze the Hopf bifurcation of E6 when τ>0, and the characteristic equation at the equilibrium E6 is

    s4α+p1s3α+p2s2α+p3sα+p4+(q1s3α+q2s2α+q3sα+q4)esτ=0, (3.10)

    where

    p1=a11a44,p2=a11a44a13a31a12a21a23a32a34a43,p3=a11a23a32a12a23a31a13a21a32+a12a21a44+a11a34a43+a13a31a44a14a31a43+a23a32a44a24a32a43,p4=a11a23a32a44+a11a24a32a43+a12a21a34a43+a12a23a31a44a12a24a31a43+a13a21a32a44a14a21a32a43,q1=b44,q2=a11b44a24b42a34b43,q3=a11a24b42+a12a21b44a14a21b42+a11a34b43+a13a31b44a14a31b43+a23a32b44a23a34b42a24a32b43,q4=a11a23a32b44+a11a23a34b42+a11a24a32b43+a12a21a34b43+a12a23a31b44a12a24a31b43+a13a21a32b44a13a21a34b42+a13a24a31b42a14a21a32b43a14a23a31b42.

    Assume that s=iω=ω(cosπ2+isinπ2), ω>0 is a root of Eq.(3.10).

    Substituting s=iω into Eq.(3.10), one gets

    ω4α(cos2απ+isin2απ)+p1ω3α(cos3απ2+isin3απ2)+p2ω2α(cosαπ+isinαπ)+p3ωα(cosαπ2+isinαπ2)+p4+[q1ω3α(cos3απ2+isin3απ2)+q2ω2α(cosαπ+isinαπ)+q3ωα(cosαπ2+isinαπ2)+q4](cosωτisinωτ)=0. (3.11)

    and separating the real and imaginary parts of it, it results in

    {R2cos(ωτ)+I2sin(ωτ)=R1,I2cos(ωτ)R2sin(ωτ)=I1, (3.12)

    Ri,Ii are defined as follows:

    R1=ω4αcos2απ+p1ω3αcos3απ2+p2ω2αcosαπ+p3ωαcosαπ2+p4,R2=q1ω3αcos3απ2+q2ω2αcosαπ+q3ωαcosαπ2+q4,I1=ω4αsin2απ+p1ω3αsin3απ2+p2ω2αsinαπ+p3ωαsinαπ2,I2=q1ω3αsin3απ2+q2ω2αsinαπ+q3ωαsinαπ2.

    It can be acquired from Eq. (3.12) that

    {cos(ωτ)=R1R2+I1I2R22+I22=F(ω),sin(ωτ)=R2I1R1I2R22+I22=G(ω). (3.13)

    Adding the squares of the two equations of Eq.(3.12), we obtain

    ω8α+M+N=0. (3.14)

    where M is a polynomial containing ω7α, ω6α, ω5α, ω4α, ω3α, ω2α, ωα, and N is a constant.

    Define

    h(ω)=ω8α+M+N. (3.15)

    Suppose that N<0. Thus, h(ω) has at least one positive root. The delay τ is regarded as a bifurcation parameter. Let s(ω)=ξ(τ)+iω(τ) be the Eq.(3.10) such that for some initial value of the bifurcation parameter τ0 we have ξ(τ0)=0, ω(τ0)=ω0. Without loss of generality, we assume ω(0)>0. From Eq.(3.13), one can conclude

    τj=1ω0[arccosF(ω)+2jπ],j=0, 1, 2. (3.16)

    where

    τ0=min{τj},j=0, 1, 2.

    To derive the condition of the occurrence for Hopf bifurcation, we have the following Lemma.

    Lemma 3.10. Assume that N<0, then Hopf bifurcation occurs provided h(ω0)0.

    Proof. Differentiating both sides of Eq.(3.10) with respect to τ, it can be obtained that

    (4αs4α1+3αp1s3α1+2αp2s2α1+αp3sα1)dsdτ+(3αq1s3α1+2αq2s2α1+αq3sα1)esτdsdτ+(q1s3α+q2s2α+q3sα+q4)esτ(τdsdτs)=0.

    Hence, one gets

    (dsdτ)1=(4αs4α1+3αp1s3α1+2αp2s2α1+αp3sα1)+(3αq1s3α1+2αq2s2α1+αq3sα1)esτs(q1s3α+q2s2α+q3sα+q4)esττs(4αs4α1+3αp1s3α1+2αp2s2α1+αp3sα1)s(s4α+p1s3α+p2s2α+p3sα+p4)+(3αq1s3α1+2αq2s2α1+αq3sα1)s(q1s3α+q2s2α+q3sα+q4)τs. (3.17)

    Substitute s=iω0 into Eq.(3.17), we have

    Re[(dsdτ)1|τ=τ0]=Re[(4α(iω0)4α1+3αp1(iω0)3α1+2αp2(iω0)2α1+αp3(iω0)α1)(iω0)((iω0)4α+p1(iω0)3α+p2(iω0)2α+p3(iω0)α+p4)+(3αq1(iω0)3α1+2αq2(iω0)2α1+αq3(iω0)α1)(iω0)(q1(iω0)3α+q2(iω0)2α+q3(iω0)α+q4)]=Re[(4α(iω0)4α1+3αp1(iω0)3α1+2αp2(iω0)2α1+αp3(iω0)α1)(iω0)((iω0)4α+p1(iω0)3α+p2(iω0)2α+p3(iω0)α+p4)+(3αq1(iω0)3α1+2αq2(iω0)2α1+αq3(iω0)α1)(iω0)(q1(iω0)3α+q2(iω0)2α+q3(iω0)α+q4)]=h(ω0)2ω0G,

    where

    G=(q1ω3α0cos(3α+1)π2+q2ω2α0cos(2α+1)π2+q3ωα0cos(α+1)π2)2+(q1ω3α0sin(3α+1)π2+q2ω2α0sin(2α+1)π2+q3ωα0sin(α+1)π2+q4)2.

    then sign{dRe(λ)dτ|τ=τ0}=sign{Re[(dλdτ)1|τ=τ0]}=sign{h(ω0)}.

    Obviously, if h(ω0)0 the transversality condition holds, and Hopf bifurcation occurs at τ=τ0.

    Theorem 3.11. Suppose that (H5)-(H8) and N<0 hold, then the positive equilibrium E6 of system (1.2) is asymptotically stable when τ[0,τ0), h(ω0)<0 and unstable when τ>τ0, h(ω0)>0. When τ=τ0, h(ω0)0 a Hopf bifurcation occurs, that is a family of periodic solutions bifurcates from E6 as τ passes through the critical value τ0.

    In this section, some numerical examples are presented to verify the theoretical results. The simulation are based on Adama-Bashforth-Moulton predictor-corrector scheme [46].

    Example 1. For the following set of parameters: Λ= 1, b1= 0.3, b2= 0.25, c1= 0.06, c2= 0.06, c3= 0.06, k1= 0.7, k2= 0.7, η1= 2.1, η2= 0.2, μ= 1, μ1= 0.5, μ2= 0.3, μ3= 0.3, θ1= 0.6, θ2= 0.7, δ= 0.1, h1= 0.2, h2= 0.1.

    In this case R1=0.42<1, R2=0.5833<1. From Figure 1, we can see that the equilibrium E0=(1, 0, 0, 0) is stable for different values of α and different sets of initial values: [X(0), Y1(0), Y2(0), Z(0)]=[0.9, 0.2, 0.2, 0.2], [1.2, 0.5, 0.3, 0.6].

    Figure 1.  (a)-(d) are the time series of the system (1.2), which show that the equilibrium E0 is stable for different values of α (α = 1, 0.9) when τ = 0; the red and and the blue and .. line represents dynamics with initial value [0.9, 0.2, 0.2, 0.2]; the yellow and ... and the green and line represents dynamics with initial value [1.2, 0.5, 0.3, 0.6].

    Example 2. For the following set of parameters: Λ= 0.5, b1= 2.5, b2= 0.3, c1= 0.01, c2= 0.01, c3= 0.06, k1= 0.5, k2= 0.7, η1= 0.2, η2= 2.1, μ= 1, μ1= 0.3, μ2= 0.5, μ3= 0.3, θ1= 0.5, θ2= 0.1, δ= 0.01, h1= 0.2, h2= 0.1.

    In this case, 1<R1=2.0833<X(0)b1c1, R2=0.21<R1 and μ3>θ1η1Y(1)1. From Figure 2, we can see that the equilibrium E1=(0.24, 0.4407, 0, 0) is stable for different values of α and different sets of initial values: [X(0), Y1(0), Y2(0), Z(0)]=[0.1,0.6, 0.5, 0.2], [0.2,0.5, 0.8, 0.6].

    Figure 2.  (a)-(d) are the time series of the system (1.2), which show that the equilibrium E1 is stable for different values of α (α = 1, 0.9) when τ = 0; the red and and the blue and .. line represents dynamics with initial value [0.1, 0.6, 0.5, 0.2]; the yellow and ... and the green and line represents dynamics with initial value [0.2, 0.5, 0.8, 0.6].

    Example 3. For the following set of parameters: Λ= 0.5, b1= 0.3, b2= 2.5, c1= 0.01, c2= 0.01, c3= 0.06, k1= 0.5, k2= 0.6, η1= 2.1, η2= 0.2, μ= 1, μ1= 0.3, μ2= 0.5, μ3= 0.5, θ1= 0.1, θ2= 0.1, δ= 0.01, h1= 0.2, h2= 0.1.

    In this case, 1<R2=1.5<X(0)b2c2, R2>R1 and μ3>(θ2η2f)Y(2)2. From Figure 3, we can see that the equilibrium E2=(0.3333, 0, 0.2024, 0) is stable for different values of α and different sets of initial values: [X(0), Y1(0), Y2(0), Z(0)]=[0.2, 0.1, 0.5, 0.2], [0.1, 0.05, 0.3, 0.6].

    Figure 3.  (a)-(d) are the time series of the system (1.2), which show that the equilibrium E2 is stable for different values of α (α = 1, 0.9) when τ = 0; the red and and the blue and .. line represents dynamics with initial value [0.2, 0.1, 0.5, 0.2]; the yellow and ... and the green and line represents dynamics with initial value [0.1, 0.05, 0.3, 0.6].

    Remark 4.1. The above three examples corresponding to the following ecological interpretation.

    (1) Figure 1 indicates that if R1<1, R2<1, then the phytoplankton can not survive and the zooplankton will also die out. However, this phenomenon usually does not happen in the real world.

    (2) Figure 2 indicates that if R1>1, R1>R2, then the non-toxic phytoplankton will win the competition between phytoplankton and toxic phytoplankton, while the zooplankton will die out due to excessive mortality.

    (3) Figure 3 indicates that if R2>1, R2>R1, then the toxic phytoplankton will win the competition between phytoplankton and toxic phytoplankton, while the zooplankton will die out due to excessive mortality.

    Example 4. For the following set of parameters: Λ= 1.4, b1= 2.8, b2= 2.3, c1= 0.01, c2= 0.01, c3= 0.06, k1= 0.95, k2= 0.1, η1= 2.1, η2= 0.26, μ= 0.2, μ1= 0.2, μ2= 0.8, μ3= 0.5, θ1= 0.2, θ2= 0.5, δ= 0.01, h1= 0.1, h2= 0.1.

    In this case, simple calculation indicates that the sufficient condition (2) of Proposition 3.6 is satisfied. From Figure 4 we can see that the equilibrium E4=(0.4067, 1.1905, 0, 0.4199) is stable for different values of α and different sets of initial values: [X(0), Y1(0), Y2(0), Z(0)]=[0.2, 0.3, 0.5, 0.2], [0.3, 0.4, 0.8, 0.6].

    Figure 4.  (a)-(d) are the time series of the system (1.2), which show that the equilibrium E4 is stable for different values of α (α = 1, 0.95) when τ = 0; the red and and the blue and .. line represents dynamics with initial value [0.2, 0.3, 0.5, 0.2]; the yellow and ... and the green and line represents dynamics with initial value [0.3, 0.4, 0.8, 0.6].

    Example 5. For the following set of parameters: Λ= 1.4, b1= 2.3, b2= 2.5, c1= 0.01, c2= 0.01, c3= 0.06, k1= 0.1, k2= 0.95, η1= 0.26, η2= 2.1, μ= 0.2, μ1= 0.8, μ2= 0.2, μ3= 0.5, θ1= 0.5, θ2= 0.2, δ= 0.01, h1= 0.1, h2= 0.1.

    In this case, simple calculation indicates that the sufficient condition (2) of Proposition 3.7 is satisfied. From Figure 5 we can see that the equilibrium E5=(0.4422, 0, 1.2195, 0.4048) is stable for different values of α and different sets of initial values: [X(0), Y1(0), Y2(0), Z(0)]=[0.2, 0.5, 0.3, 0.2], [0.3, 0.8, 0.4, 0.6].

    Figure 5.  (a)-(d) are the time series of the system (1.2), which show that the equilibrium E5 is stable for different values of α (α = 1, 0.8) when τ = 0; the red and and the blue and .. line represents dynamics with initial value [0.2, 0.5, 0.3, 0.2]; the yellow and ... and the green and line represents dynamics with initial value [0.3, 0.8, 0.4, 0.6].

    Remark 4.2. The above examples corresponding to the following ecological interpretation.

    (1) Figure 4 indicates that if the toxic phytoplankton is less competitive than the non-toxic phytoplankton, then the toxic phytoplankton will die out.

    (2) Figure 5 indicates that if the toxic phytoplankton win the competition between non-toxic phytoplankton and toxic phytoplankton, then the zooplankton may still survive under certain conditions, that is, nutrients, toxic phytoplankton and zooplankton may theoretically coexist. However, this phenomenon usually does not appear in real world.

    (3) From Figures 15 we can see that as the value of α decreases, the steady speed becomes slow for each equilibrium. This indicates that the value of α has obvious effects on the dynamical behaviors of the system.

    Example 6. For the following set of parameters: α= 0.8, Λ= 1.4, b1= 0.32, b2= 0.54, c1= 0.06, c2= 0.08, c3= 0.6, k1= 0.7, k2= 0.6, η1= 1.8, η2= 0.6, μ= 0.2, μ1= 0.4, μ2= 0.9, μ3= 0.5, θ2= 0.5, δ= 0.1, h1= 0.1, h2= 0.1.

    In this example, we will consider the influence of toxic, i.e., θ1. Here, we choose θ1=0,0.6, with the initial conditions: [X(0), Y1(0), Y2(0), Z(0)] = [0.2, 0.2, 0.3, 0.2], [0.8, 0.8, 0.6, 0.8].

    Example 7. In this example, we will consider the influence of α.

    (1) For the following set of parameters: Λ= 1.4, b1= 2.3, b2= 2.5, c1= 0.01, c2= 0.01, c3= 0.06, k1= 0.1, k2= 0.95, η1= 0.26, η2= 2.1, μ= 0.2, μ1= 0.8, μ2= 0.2, μ3= 0.5, θ1= 0.5, θ2= 0.2, δ= 0.01, h1= 0.1, h2= 0.1, with the initial conditions: [X(0), Y1(0), Y2(0), Z(0)] = [0.2, 0.5, 0.3, 0.2].

    (2) For the following set of parameters: Λ= 1.4, b1= 0.32, b2= 0.54, c1= 0.06, c2= 0.08, c3= 0.6, k1= 0.7, k2= 0.6, η1= 1.8, η2= 0.6, μ= 0.2, μ1= 0.4, μ2= 0.9, μ3= 0.5, θ1= 0.6, θ2= 0.5, δ= 0.1, h1= 0.1, h2= 0.1, with the initial conditions: [X(0), Y1(0), Y2(0), Z(0)] = [0.5, 0.5, 0.5, 0.2].

    Remark 4.3. (1) From Figure 7, we can see that if the value of α is relatively big(i.e., α = 1, 0.8), then the equilibrium E5 is locally stable; if the value of α is relatively small(i.e., α = 0.4), then the equilibrium is unstable, and oscillation may occur.

    Figure 7.  (a)-(d) are the time series of the system (1.2), which show the influence of α. (The initial conditions: [0.2, 0.5, 0.3, 0.2]).

    (2) From Figure 8, we can see that if the value of α is relatively big(i.e., α = 1, 0.7), then the equilibrium E6 is locally stable; if the value of α is relatively small(i.e., α = 0.1), then the equilibrium E0 is locally stable.

    Figure 8.  (a)-(d) are the time series of the system (1.2), which show the influence of α. (The initial conditions: [0.5, 0.5, 0.5, 0.2]).

    (3) Figure 7 and Figure 8 indicate that if the value of α is relatively small, the system will be destabilized.

    Example 8. For the following set of parameters: α= 0.89, Λ= 1.4, b1= 0.32, b2= 0.54, c1= 0.06, c2= 0.08, c3= 0.6, k1= 0.7, k2= 0.6, η1= 1.8, η2= 0.6, μ= 0.2, μ1= 0.4, μ2= 0.9, μ3= 0.5, θ1= 0.6, θ2= 0.5, δ= 0.1, h1= 0.1, h2= 0.1.

    In this example, the equilibrium E6=(3.2026, 0.4114, 0.2784, 0.1608), and our main aim is to study the effect of time delay on the stability of the system.

    (1) From Figure 9, we can see that if τ=0, then the equilibrium E6 is stable with different sets of initial value: [X(0), Y1(0), Y2(0), Z(0)]=[0.5, 0.5, 0.5, 0.2], [2.8, 1.8, 3.3, 1.3].

    Figure 9.  (a)-(d) are the time series of the system (1.2), which show that the equilibrium E6 is stable for α= 0.89 and τ=0, the blue and line represents dynamics with initial value [0.5, 0.5, 0.5, 0.2];the red and .. line represents dynamics with initial value [0.8, 0.8, 0.3, 0.3].

    (2) From Figure 10, we will see that if τ=3<τ04.4671, then the equilibrium E6 is stable with different sets of initial value: [X(0), Y1(0), Y2(0), Z(0)]=[0.5, 0.5, 0.5, 0.2], [2.8, 1.8, 3.3, 1.3].

    Figure 10.  (a)-(d) are the time series of the system (1.2), which show that the equilibrium E6 is stable for α= 0.89 and τ=3<τ04.4671, the blue and line represents dynamics with initial value [0.5, 0.5, 0.5, 0.2];the red and .. line represents dynamics with initial value [0.8, 0.8, 0.3, 0.3].

    (3) From Figure 11, we can see that if τ=4.2<τ04.4671, then the equilibrium E6 is stable with different sets of initial value: [X(0), Y1(0), Y2(0), Z(0)]=[0.5, 0.5, 0.5, 0.2], [2.8, 1.8, 3.3, 1.3].

    Figure 11.  (a)-(d) are the time series of the system (1.2), which show that the equilibrium E6 is stable for α= 0.89 and τ=4.2<τ04.4671, the blue and line represents dynamics with initial value [0.5, 0.5, 0.5, 0.2];the red and .. line represents dynamics with initial value [0.8, 0.8, 0.3, 0.3].

    (4) From Figure 12, we will see that if τ=5>τ04.4671, then periodic oscillation occurs, and the equilibrium E6 will lose its stability and periodic solutions appear through Hopf bifurcation, with different sets of initial value: [X(0), Y1(0), Y2(0), Z(0)]=[0.5, 0.5, 0.5, 0.2], [0.8, 0.8, 0.3, 0.3].

    Figure 12.  (a)-(d) are time series of the system (1.2), which show that the equilibrium E6 is unstable, and periodic oscillation occurs, for α= 0.89 and τ=5>τ04.4671. The blue and line represents the dynamics with initial value [0.5, 0.5, 0.5, 0.2]; while the red and .. line represents the dynamics with initial value [0.8, 0.8, 0.3, 0.3].

    (5) From Figure 13, we can see that if τ=6>τ04.4671, then similar periodic oscillation occurs as that in Figure 12, but with larger amplitude.

    Figure 13.  (a)-(d) are the time series of the system (1.2), which show that the equilibrium E6 is unstable, and periodic oscillation occurs, for α= 0.89 and τ=6>τ04.4671. The blue and line represents the dynamics with initial value [0.5, 0.5, 0.5, 0.2]; while the red and .. line represents the dynamics with initial value [0.8, 0.8, 0.3, 0.3].

    Remark 4.4. From the above example, we can see that the time delay has an effect of destabilizing the equilibrium E6. In other words, the larger the value of time delay is, the more possible that the equilibrium E6 lose its stability.

    In this paper, a fractional-order mathematical model is constructed to describe the active of nutrient-phytoplankton-toxic phytoplankton-zooplankton.

    Through qualitative analysis, we get the following results.

    We figure out the sufficient conditions for the existence and local stability of E0, E1, E2, E3, E4, E5, E6 for τ=0.

    By using time delay as a bifurcation parameter, the existence of Hopf bifurcation is analyzed in detail. We find that if τ<τ0, then the equilibrium E6 is locally stable; while it is unstable if τ>τ0 and Hopf bifurcation may occur near τ0.

    Through numerical simulation we get the following results.

    Figure 1 shows the stability of equilibrium E0 for different values of α.

    Figure 2 shows the stability of equilibrium E1 for different values of α.

    Figure 3 shows the stability of equilibrium E2 for different values of α.

    Figure 4 shows the stability of equilibrium E4 for different values of α.

    Figure 5 shows the stability of equilibrium E5 for different values of α.

    Figure 6 shows the effect of parameter θ1 on the system (1.2).

    Figure 6.  (a)-(d) are the time series of the system (1.2), which show the influence of θ1. (The initial conditions: [0.2, 0.2, 0.3, 0.2], [0.8, 0.8, 0.6, 0.8]).

    Figure 7 and Figure 8 indicate that the value of α is closely relate to the stability of each equilibrium. The stability of each equilibrium becomes weaker as the value of α decreases.

    Figures 911 show that E6 is stable if τ[0,τ0); Figures 1213 show that E6 is unstable if τ>τ0 and periodic oscillation may occur; Figures 913 indicate that the impact of τ on the dynamics of the system is crucial.

    Table 2 and Figure 14 show that the value of τ0 arises as the value of α increases.

    Table 2.  The effect of α on the values ω0, τ0 in system(1.2).
    Fractional order α Critical frequency ω0 Bifurcation point τ0
    0.60 0.0221 49.8601
    0.65 0.0318 30.9419
    0.70 0.0436 20.0341
    0.75 0.0576 13.3431
    0.80 0.0740 8.9972
    0.85 0.0927 6.1119
    0.90 0.1140 4.1175
    0.95 0.1378 2.7095
    1.00 0.1642 1.6926

     | Show Table
    DownLoad: CSV
    Figure 14.  Illustration of bifurcation τ0 versus fractional order α for system (1.2). The bifurcation points are becoming smaller and smaller as the value of α increase.

    Remark 5.1. When τ=0, Y1=Y2 and h1=h2=0, then system (1.2) will degenerated to the model in [40].

    In the model of this paper, phytoplankton is divided into two class, non-toxic phytoplankton and toxic phytoplankton. Some experimental data suggested that some zooplankton are capable of selecting for nontoxic phytoplankton, a mechanism that allows toxic phytoplankton to coexist with nontoxic phytoplankton [47]. This is also consistent with the results in Figure 9. Although some zooplankton have the ability to distinguish between toxic and non-toxic plants, some other experiments have shown that some zooplankton might not be able to distinguish between toxic and nontoxic algae, even shows a slight preference for toxic strains [48,49]. We can find from Figure 6 that once non-toxic phytoplankton become scarce, the zooplankton start to eat the toxic phytoplankton, even if the toxicity is weak, the zooplankton may become extinct. This is dangerous for the ecosystem.

    Remark 5.2. Any ecosystem depends on the natural environment, and in the real natural environment there are more or less physical and chemical signals that interact with the ecosystem. This motivate us to consider stochastic effects to the ecosystem, that is, white noise should be included into the system. We leave this as our next work.

    Each of the authors, Ruiqing Shi, Jianing Ren, Cuihong Wang contributed to each part of this work equally and read and approved the final version of the manuscript.

    This work is partly supported by National Natural Science Foundation of China (No. 61907027). The authors would like to thank the anonymous reviewers for their helpful comments, which improved the quality of this paper greatly.

    The authors declare that they have no financial or non-financial competing interests.

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