Dynamics and bifurcations in genetic circuits with fibration symmetries

Abstract

Circuit building blocks of gene regulatory networks (GRN) have been identified through the fibration symmetries of the underlying biological graph. Here, we analyse analytically six of these circuits that occur as functional and synchronous building blocks in these networks. Of these, the lock-on, toggle switch, Smolen oscillator, feed-forward fibre and Fibonacci fibre circuits occur in living organisms, notably Escherichia coli ; the sixth, the repressilator, is a synthetic GRN. We consider synchronous steady states determined by a fibration symmetry (or balanced colouring) and determine analytic conditions for local bifurcation from such states, which can in principle be either steady-state or Hopf bifurcations. We identify conditions that characterize the first bifurcation, the only one that can be stable near the bifurcation point. We model the state of each gene in terms of two variables: mRNA and protein concentration. We consider all possible ‘admissible’ models—those compatible with the network structure—and then specialize these general results to simple models based on Hill functions and linear degradation. The results systematically classify using graph symmetries the complexity and dynamics of these circuits, which are relevant to understand the functionality of natural and synthetic cells.