We present a study of three-mode parametric instability in large-scale gravitational-wave detectors. Previous work used a linearised model to study the onset of instability. This paper presents a non-linear study of this phenomenon, which shows that the initial stage of exponential rise of the amplitudes of a higher order optical mode and the mechanical internal mode of the mirror is followed by a saturation phase, in which all three participating modes reach a new equilibrium state with constant oscillation amplitudes. Results suggest that stable operation of interferometers may be possible in the presence of such instabilities, thereby simplifying the task of suppression.
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