The average temperature will be \(T\), measured in Celsius. We'll assume the Earth radiates power square meter equal to $$ A + B T $$ where \(A = 218\) watts/meter2 and \(B = 1.90\) watts/meter2 per degree Celsius. This is a linear approximation taken from satellite data on our Earth.
We'll assume the Earth absorbs solar energy power per square meter equal to
$$ Q a_p(T) $$Here \(Q = 1370/4\) watts/meter2 is called the insolation: it's the average amount of power per square meter hitting the Earth. And here \(a_p(T)\) is called the coalbedo: it's the fraction of solar power that gets absorbed. The coalbedo depends on the temperature; we'll have to say how.
Given all this, we get
$$ C \frac{d T}{d t} = - A - B T + Q a_p(T(t)) $$where \(C\) is Earth's heat capacity in joules per degree per square meter. Of course this is a funny thing, because heat energy is stored not only at the surface but also in the air and/or water, and the details vary a lot depending on where we are. But if we consider a uniform planet with dry air and no ocean, we may roughly take \(C\) equal to about half the heat capacity at constant pressure of the column of dry air over a square meter, namely 5 million joules per degree Celsius. (Why just half? Gerald North promises to explain.)
The easiest thing to do is find equilibrium solutions, where \(\frac{d T}{d t} = 0\), so that
$$ A + B T = Q a_p(T) $$Now \(C\) doesn't matter anymore! We'd like to solve for \(T\) as a function of the insolation \(Q\), but it's easier to solve for \(Q\) as a function of \(T\): $$ Q = \frac{ A + B T } {a_p(T) }$$ To go further, we need to guess some forumula for the coalbedo \(a_p(T)\). Let's try this: $$ a_p(T) = a_i + \frac{1}{2} (a_f-a_i) (1 + \tanh(\gamma T)) $$ Here $$ a_i = 0.35 $$ is the 'icy' coalbedo, good for low temperatures when there's lots of ice and snow, and $$ a_f = 0.7 $$
is the 'ice-free' coalbedo, good for high temperatures when the Earth is darker. The function \(\frac{1}{2}(1 + \tanh(\gamma T)) \) is just some simple function that goes from 0 at low temperatures to 1 at high temperatures. This ensures that the coalbedo is near its icy value \(a_i\) at low temperatures, and near its ice-free value \(a_f\) at high temperatures. But the fun part here is \(\gamma\), a parameter that says how rapidly the coalbedo rises as the Earth gets warmer. Depending on this, we'll get different effects!
Note that \(a_p(T)\) rises the most rapidly at \(T = 0\), because that's where \(\tanh (\gamma T)\) has the biggest slope. We're just lucky that in Celsius, \(T = 0\) is the melting point of ice, so this makes a bit of sense!
Now, you can slide this slider to adjust the parameter \(\gamma\) to various values between 0 and 1:
You can see how the coalbedo \(a_p\) changes as a function of temperature. In this graph the temperature ranges from -50C and 50C; the graph depends on what value of \(\gamma\) you choose:
You can also see the insolation \(Q\) required to yield a given temperature \(T\) between -50C and 50C:
The exciting thing is that when \(\gamma\) gets big enough, three different temperatures are compatible with the same amount of insolation! This means the Earth can have a warm and a cold state even when the insolation is fixed. (The intermediate state is unstable, it turns out.)