Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

iu khin s hn lon trong h thng c tr thi gian vi hm tuyn tnh tng on Controlling Chaos in a Time-Delayed System with Piecewise Linear Function
Le Tam Phuoc1, Hidayet Ogras2, Thanh Viet Pham3, Duong Thai Cong1 Can Tho In-Service University Center, 2Batman University, 3University of Transport Technology e-Mail: 1ltphuoc@dhtcct.edu.vn, 2hidayetogras@batman.edu.tr, 3pham.vth@utt.edu.vn
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Trong bi bo ny, b iu khin phn hi tr c s dng nhm iu khin s hn lon trong mt h thng c tr thi gian, y l h thng mi c da trn khi phi tuyn v khi tr thi gian. H thng c tr thi gian v b iu khin c thc hin bng cc linh kin in t ri rc sn c trn th trng nhm chng thc li cc phn tch mang tnh l thuyt. S thng nht gia kt qu m phng vi kt qu thc nghim ch ra tnh hiu qu v chnh xc ca b iu khin xy dng.

Abstract: In this paper a time-delayed feedback

controller is employed to control chaos in the novel time-delayed system which is based on a nonlinearity unit and a time delay unit. Both of the time-delayed system and controller are realized by off-the-shelf discrete components to confirm theoretical analyses. The agreement of numerical simulation with experimental results shows the effectiveness and precision of the implemented control method.

Notation
Notation x f K T Unit Meaning state of the system dynamic function feedback gain time delay feedback time-delay

differential equations (DDE) can exhibit chaos [2]. This unexpected performance requires management to achieve desired goals. Hence control in time-delayed system has received much attention recently [1, 3-7]. Stabilization methods are based mainly on conventional feedback, filter and time-delayed feedback controller (TDFC). However, there are a few experimental researches. In addition, almost authors focus on time-delayed systems with continuous nonlinear functions such as the model of Mackey-Glass for blood production in patients with leukemia [8] or the model of Ikeda for describing the dynamics of an optical bistable resonator [9]. Because of the reality and the feasibility of piecewise linear (PWL) functions, it is importance to study the controlling chaos in TDCSs with PWL functions. This paper represents a TDFC for a new TDCS and is organized as follows: The next Section introduces the model of the TDCS and discovers its dynamical behavior. The controller is proposed in Section 3. Simulations and experimental results are addressed in Section 4 and Section 5, respectively. Conclusion is driven in the last Section.

2. Model of the system with delay and its dynamic behavior

2.1 Model of the system with delay In literature [2, 8 ,9] the TDCS is often presented by the first order nonlinear DDE as dx (1) ax bf xt , dt where a, b are parameters, xt x t t and the nonlinear function f . has the form of the MackeyGlass model [8] f x [9]

Abbreviation
DDE PWL TDFC TDCS UFP UPO delay differential equation piecewise linear time-delayed feedback control time-delayed chaotic system unstable fixed point unstable periodic orbit

1. Introduction
Delay is observed ubiquitously in amount of chemical mechanics, biological phenomena as well as engineering systems [1] due to the limitation of signal propagating time, computing speed and memory effects. Therefore, the delay could make undesired behaviours which do not exist in original systems. For example, the system described by first order delay

f x conventional systems (1) we consider one novel system with the PWL function as follows dx (2) bf xt , dt x x 1 x 1 . System (2) is where f x viewed as a simply version of the studied model [10]

x or of the Ikeda model 1 x10 sin x . In this work, different from

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which exhibited a cell equation in cellular neural networks with delay. This system can be also described in the classical Lure system with dynamical linear part and feedback nonlinear part L s e st s 2.2 Dynamic behavior in TDCS In the absence of time delay t

0 , there are three stable equilibrium points for (2) x* 0, 2 . The

model state settles to the stable fixed point x*
*

bf x as in Figure H. 1.

2 and x 2 if positive initial condition and negative initial condition are selected, respectively. However, in the presence of time delay t 0 , the model (2) is essentially infinite dimensional and could demonstrate complex dynamic behaviors including undesirable phenomena such as chaos. To examine the detail effect of the time delay on the model, the bifurcation diagram is calculated and plotted in Figure H. 2 for a range of delay time from 0 to 3.2.

H. 1

Block diagram of the time-delayed system.

H. 2

Bifurcation diagram of the model (2) for a range of time delay from 0 to 3.2.

Figure 3 shows the phase planes for some time delays. The state x settles on the stable point when the timedelay is small (H. 3a). When increasing the delay

time, model output x reaches to periodic behaviors (H. 3b, c) and chaotic behaviors (H. 3d, e, f).

H. 3

Phase portraits of the model with the initial condition x(0) = -0.1 (a) for =0, (b) for = 1.65, (c) for = 2.05, (d) for = 2.5, (e) for = 3.0 ,and (f) for = 3.2

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011 3. Time-delayed feedback controller for TDCS
Although time delay creates the instability of system, it can be utilized to stabilize chaotic systems. TDFC [11-13] is one of the most popular methods which is applied successfully in a variety of biological system, electrical circuits, lasers and a magneto-elastic system [14-17]. The most advantage of this method is that it does not require the prior knowledge about the model. Different to the conventional feedback control, the feedback signal is proportional to the difference of output signal and its delayed version. TDFC can stabilize the chaotic behavior to one of UFPs or UPOs embedded within chaotic attractor. There are two control parameters: the feedback gain and the feedback time delay. It is worth noticing that the feedback time-delay T is often different from the intrinsic delay of time-delayed system. Two parameters have been selected by trial-and-error procedures or Lyapunov stability analysis approaches [2-5, 14]. In particular, for stabilizing of the UPO, the controller time delay has to be chosen as an integer multiple of the period of the desired UPO. In this part, one TDFC is studied to stabilize UPO of TDCS (2) with t 3 . The fundamental configuration of TDFC for TDCS is illustrated in Figure H. 4. Note that the controller is turned on at t = 1000. Controlled system presents periodic orbit as given in Figure H. 5b. From the time domain waveform (Figure H. 6), we can see clearly that the signal is transformed chaotic one into periodic one after transient time.

H. 5

The phase portrait of (a) uncontrolled system, and (b) controlled system.

H. 6

Time responses of state x. The controller is connected at time t = 1000.

The simulation results prove that the designed TDFC (4) with K 0.5 and T 0.24 can stabilize the TDCS (2) to the desired UPO effectively.

5. Experimental results
H. 4 Diagram of the TDFC for controlling the TDCS.

From Figure H. 4, controlled TDCS has the following form dx (3) bf xt u, dt where u is a TDFC to be designed u K xT x . (4) Based on Lyapunov stabilization arguments [3, 4], parameters of TDFC are calculated and chosen as K 0.5 and T 0.24.

4. Simulation results
In order to confirm the feasibility as well as the accuracy of the proposed TDFC in Section 3, numerical simulations are deployed by applying fourth order Runge-Kutta ordinary differential algorithm for variable integration step with 10-6 absolute and relative tolerances. The uncontrolled system displays a chaotic attractor as shown in Figure H. 5a, where the initial condition is x(0) = -0.1.

The TDCS and TDFC have been built as in Figure H. 7 with off-the-shelf components such as resistors, capacitors, a switch and operational amplifiers. The values of discrete components are the following R1 = 74.8 k , R2 = 970 , R3 = 27 k , R4 = 2.22 k , R5 = 35 k , R6 = R11 = 70 k , R7 = R9 = 10 k , R8 = R10 = 5 k , and C = 14.28 nF. The voltage supply for the operational amplifiers is 15 V. The delay units are filters with matching resistors whose details can be found elsewhere [18, 19]. The TDCS includes three operational amplifiers (U1, U2, U3), six resistors (from R1 to R6), the delay unit with = 3 and the capacitor C. The PWL function [20] is realized by U1 and four resistors (form R1 to R6). The operational amplifier U2 is employed as an integrator, while U3 is the buffer which is utilized for the measurement purpose. The TDFC consists of the operational amplifier U4, five resistors (from R7 to R11) and the delay unit T = 0.24. There the operational amplifier works as one differential amplifier. In the other word, the feedback time-delay T is characterized by the following equation

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R8 (5) . R7 TDFC is connected into TDCS when the switch SW closes. All experimental measured waveforms have been recorded by a National Instrument data acquisition board with the sampling frequency equals 300 kHz. Firstly the TDFC is disconnected from the TDFC (the switch opens) chaotic behavior is exhibited in Figure H. 8a as analyzed in previous Sections. After that, the effect of the TDFC is considered by closing the switch. It is obvious that period orbit is captured as illustrated in Figure H. 8b. K
Similar to the numeral simulation in Section 3, after transition time, the output signal x becomes periodic one as shown in Figure H. 9. In the other word, this TDFC has been successfully applied to control the state of TDCS approaching a desired UPO. These experimental results are in good agreement with simulation ones.

6. Conclusion
This paper has proposed the TDFC to control chaos in the novel TDCS. The TDCS with PWL function and TDFC are designed and implemented by simple electronics components, like resistors, capacitors, and operational amplifiers. The experimental results agree with simulation and demonstrate the effectiveness of the proposed TDFC. Moreover, this work also can be used to support courses about controlling complex systems, since the platform only consists of popular low expensive components. Students could realize both TDCS and TDFC in laboratory easily under the instruction of a supervisor.

Reference
[1] Xia, Y.; Fu, M.; Shi, P.: Analysis and synthesis of dynamical system with time-delays. Springer, New York, 2009 [2] Lu, H.; He, Z.: Chaotic behavior in first-order autonomous continuous-time systems with delay, IEEE Trans. Circuits Syst. I Fundam. Theory Appl., vol. 43, pp. 700-702, Aug. 1996 [3] Guan, X.; Chen, C.; Peng, H.; Fan, Z.: Timedelayed feedback control of time-delay chaotic systems, Internat. J. Bifur. Chaos, vol. 13, pp. 193-205, 2003 [4] Sun, J: Delay-dependent stability criterion for time-delay chaotic systems via time-delay feedback control, Chaos Solitons & Fractals, vol. 20, pp. 143-150, 2004 [5] Guan, X.; Feng G.; Chen, C.; Chen, G.: A full delayed feedback controller design method for time-delay chaotic system, Physica D, vol. 227, pp. 36-42, 2007 [6] Hien, L. V.; Phat, V. N.: Delay feedback control in exponential stabilization of linear timevarying systems with input delay, IMA J. Math. Contr. Inform., vol. 26, pp. 163-177, 2009 [7] Phat, V. N.: Switched controller design for stabilization of nonlinear hybrid systems with time-varying delays in state and control, J. of the Franklin Institute, vol. 347, pp 195-207, 2010. [8] Mackey, M. C.; Glass, L.: Oscillation and chaos in physiological control system, Science, vol. 197, pp. 287-289, 1977 [9] Ikeda, K.; Matsumoto, K.: High-dimensional chaotic behavior in systems with time-delayed feedback, Physica D, vol. 29, pp. 223-235, 1987 [10] Lu, H.; He, Y.; He, Z.: A chaos-generator: Analyses of complex dynamics of a cell equation in delayed cellular neural networks, IEEE

H. 7

Schematic of the TDCS (delay time =3) with TDFC (feedback time-delay T = 0.24).

H. 8

The experimental phase portrait of (a) uncontrolled system, and (b) controlled system.

H. 9

Time-domain waveform of output signal x after closing the switch SW.

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Trans. Circuits Syst. I Fundam. Theory Appl., vol. 45, pp. 178-181, 1998 Pyragas, K.: Continuous control of chaos by self-controlling feedback, Phys. Lett. A, vol. 170, pp. 421-428, 1992 Pyragas, K.: Control of chaos via an unstable delayed feedback controller, Phys. Rev. Lett., vol. 86, 2265-2268, 2001 Chen, G.; Yu, X.: On time-delayed feedback control of chaotic systems, IEEE Trans. Circuits Syst. I Fundam. Theory Appl., vol. 46, pp. 767772, 1999 Schll, E.; Schuster, H. G.: Handbook of Chaos Control, Wiley-VCH, Weinheim, 2008 Pyragas, K.; Tamaeviius, A.: Exprimental control of chaos by delayed self-controlling feedback, Phys. Lett. A, vol. 180, pp. 99-102, 1993 Bielawski, S.; Derozier, D.; Glorieux, P.: Controlling unstable periodic orbits by a delayed continuous feedback, Phys. Rev. E, vol. 49, pp. 971-974, 1994 Hikihara, T.; Kawagoshi, T.: An experimental study on stabilization of unstable periodic motion in magneto-elastic chaos, Phys. Lett. A, vol. 211, pp. 29-36, 1996 Namajnas, A.; Pyragas, K.; Tamaeviius, A.: An electronic analog of the Mackey-Glass system, Phys. Lett. A, vol. 180, pp. 42-46, 1995 Srinivasan, K.; Mohamed, I. R.; Murali, K.; Lakshmanan, M.; Sinha, S.: Design of time delayed chaotic circuit with threshold controller, vol. 21, Internat. J. Bifur. Chaos, pp. 725-735, 2011 Arena, P.; Baglio, S., Fortuna, L.; Manganaro, G.: Chuas circuit can be generated by CNN cells, IEEE Trans. Circuits Syst. I Fundam. Theory Appl., vol. 42, pp. 123-125, 1995 interests include chaotic communication, chaos based digital modulation techniques, wireless communication systems, and digital signal processing. Thanh Viet Pham received the M.S. degree from Hanoi University of Technology in 2008. He is now a T.A. at the University of Transport Technology. His research interests are nonlinear control, unmanned autonomous vehicles, telecommunications and nonlinear circuits. Duong Thai Cong is currently a Rector at CanTho In-Service University.

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M. Eng. Le Tam Phuoc, Lecturer, CanTho In-Service University, Industrial Management department, Email: ltphuoc@dhtcct.edu.vn. Le Tam Phuoc is a lecturer of Industrial Management at CanTho InService University. He consults regularly with executives from a variety of fields to help create synergistic solutions to country/worldimpacting problems. Prior to his current position, he was a Project Manager, and had researched as a Ph.D. student in the field of Bio-Engineering at University of Bologna, Italy. Hidayet Orgas received the M. S. degree from the Department of Electrical and Electronics Engineering, Firat University in 2010. He is currently working toward the Ph.D. degree at the same university. He joined Technical Education Faculty, Batman University, where he is now a lecture. His research

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