Generalized boundary equilibria in n-dimensional Filippov systems: The transition between persistence and nonsmooth-fold scenarios

► Boundary equilibria (BE) bifurcation in n-dimensional Filippov system can be catastrophic or not. ► The transition between the two scenarios is a codim 2 bifurcation called Generalized Boundary Equilibrium (GBE). ► A fold bifurcation between pseudo-equilibria (PLP) emanates from the GBE point. ► The PLP curve start tangentially to the BE curve. ► Results are tested on a 4-dimensional on-off controlled ecological example.