  Using the dynamical system theory we show that the Friedmann-Robertson-Walker
(FRW) cosmological model with bulk viscous fluid in the presence of
cosmological constant is equivalent to a degenerate two dimensional
Bogdanov-Takens normal form. The equation of state parameter, $\omega$, the
bulk viscosity coefficient, $\xi$, and the cosmological constant, $\Lambda$,
define the necessary parameters for unfolding the degenerate Bogdanov-Takens
system. The fixed points of the system are discussed together with the
variation of their stability properties upon changing the relevant parameters
$\omega$, $\Lambda$ and $\xi$. The variation of the stability properties are
visualized by the appropriate bifurcation diagrams. Phase portrait for finite
domain and global phase portrait are displayed and the issue of the structural
stability is discussed. Typical issues such as late acceleration or inflation
that can be induced by viscosity and could have relevance to observational
cosmology are also discussed.
