Nonlinear dynamics of a bouncing ball moving vertically in a gravitational field and colliding with a moving limiter is considered and the Poincare map, describing evolution from an impact to the next impact, is described. Displacement of the limiter is assumed as periodic, cubic function of time. Due to simplicity of this function analytical computations are possible. Several dynamical modes, such as fixed points, 2 - cycles and chaotic bands are studied analytically and numerically. It is shown that chaotic bands are created from fixed points after first period doubling in a corner-type bifurcation. Equation for the time of the next impact is solved exactly for the case of two subsequent impacts occurring in the same period of limiters motion making analysis of chattering possible.
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