Endogenous Cycles in a Keen--Goodwin Model with Minsky Debt

We analyze a three-dimensional Keen–Goodwin model that couples wage–employment dynamics with Minsky-style private debt. At zero real interest the interior equilibrium is nonhyperbolic and organized by a two-dimensional center manifold foliated by neutral Goodwin cycles. Introducing a small positive interest rate unfolds this degeneracy: we derive an explicit Hopf condition, prove persistence of the center manifold as a normally hyperbolic attracting surface, and obtain first-order amplitude and frequency corrections for the emergent limit cycle via phase–amplitude reduction. Numerical simulations support the asymptotic predictions and demonstrate how interest rates determine and modulate endogenous business cycles.