We discovered a narrow band of chaos close to the grazing condition for a simple soft impact oscillator. The phenomenon was observed experimentally for a range of system parameters. Through numerical stability analysis, we argue that this abrupt onset to chaos is caused by a dangerous bifurcation in which two unstable period-3 orbits, created at "invisible" grazings, take part.
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Banerjee et al. (2009) studied this question.
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