Despite significant progress in modelling Quaternary climate dynamics, a comprehensive theory of glacial cycles is still lacking. Here, using the results of model simulations and data analysis, I present a framework of the generalized Milankovitch theory (GMT), which further advances the concept proposed by Milutin Milankovitch over a century ago. The theory explains a number of facts which were not known during Milankovitch time's, such as the 100 kyr periodicity of the late Quaternary.

Building upon Milancovic's theory of orbital forcing, this paper reviews the interplay between intrinsic variability and external forcing in the emergence of glacial interglacial cycles. It provides the reader with historical background information and with basic theoretical concepts used in recent paleoclimate research. Moreover, it presents new results which confirm the reduced stability of glacial-cycle dynamics after the mid-Pleistocene transition.

Over the last 2.6 Myr, the Quaternary period has been marked by the alternation of extended and reduced Northern Hemisphere ice sheets, known as glacial-interglacial cycles. With a simple model, we are able to reproduce the main features of the ice volume evolution, like the switch of periodicity, from 41 kyr cycles to 100 kyr cycles, observed in the data after 1 Ma. The quality of the model-data agreement depending on the input insolation and period considered is discussed.

The study of abrupt climate changes is a relatively new field of research that addresses paleoclimate variations that occur in intervals of tens to hundreds of years. Such timescales are much shorter than the tens to hundreds of thousands of years that the astronomical theory of climate addresses. We revisit several high-resolution proxy records of the past 3.2 Myr and show that the abrupt climate changes are nevertheless affected by the orbitally induced insolation changes.

This paper stresses the original contributions of Milankovitch related to his caloric seasons and his climate model giving the caloric seasons a climatological meaning.

Paleoclimate proxy data are essential for broadening our understanding of climate variability. There remain, however, challenges for traditional methods of variability analysis to be applied to such data, which are usually irregular. We perform a comparative analysis of different methods of scaling analysis, which provide variability estimates as a function of timescales, applied to irregular paleoclimate proxy data.