In the mathematical theory of bifurcations, a Hopf or Poincaré–Andronov–Hopf bifurcation, named after Henri Poincaré, Eberhard Hopf, and Aleksandr Andronov, is a local bifurcation in which a fixed point of a dynamical system loses stability as a pair of complex conjugate eigenvalues of the linearization around the fixed point cross the imaginary axis of the complex plane.
In general, these controllers are often designed at various operating points using linearized models of the system dynamics and are scheduled as a function of a parameter or parameters for operation at intermediate conditions.