Synchronization of chaotic

system
Vivek Sharma
2k13-PhD-EE-212
Supervisors
Dr. B. B. Sharma
Dr. R. Nath

Contents

Motivation
Introduction
Literature review
Work proposed
Work done
Results
References

Motivation
Chaotic phenomena was first observed by Lorentz while working
on weather model.
Pecora & Carroll first proposed chaotic system synchronization
and potential possibility of its use in secure communication [1].
Survey of different application areas of chaotic system is
presented in [2]. Application areas are
Mechanical System [3][4]
Chemical System [5]
Biological System [6]
Economics [7]
Electrical System [8]

Motivation
Keeping in view different applications it is pertinent to
explore chaotic behavior of different systems, their control
and synchronization.

Introduction
As the proposed work will revolve around nonlinear
systems and specifically chaotic/hyperchaotic systems so it
is important to understand their typical behavior.

Linear ode
if y is a function of x then general form of a Linear ordinary
differential equation of order n is

where each ai as well as f depends on the independent variable x

alone and does not have the dependent variable y or any of its
derivatives in it.

Nonlinear ode
Nonlinear because of exp term

system of nonlinear equations because of the terms xz and xy

Linear System
Behavior of the linear system depends on its parameters

Nonlinear System
Similarly let us study the effect of variation of parameter on the
behavior of Chua System

x a ( y x) G ( x)
y s[a( y x) z ]

z c[ y pz ]

x,

x 1

G ( x) [1 b( x 1)]*sgn( x), 1 x 10
[10( x 10) (9 b 10)]*sgn( x),

x 10

Bifurcation Diagram

Phase Plot for various values of c

Phase Plot for various values of c

Literature Review
Various aspects of chaos synchronization has been
discussed in a review paper [9]
Uncertainty in parameters has been addressed in literature
using adaptive estimation of parameters. [10-12]
A review paper [13] has considered different work [14-21]
and has reached to the conclusion that all these
methodologies can be derived form the work given in [22]

Literature Review
Observer based synchronization: Observers are used to
estimate the states of the system. Theory of Non-linear
observer has been discussed in [23].
Different types of observer based synchronization [24] like
LMI (linear matrix Inequality) approach [25-27], sliding
mode [28-30], Adaptive sliding mode[31], Adaptive
observer [32], Differential mean value theorem [33] based
observer, Nonlinear unknown input observer (NUIO) [34],
have been reported in literature.
Synchronization of chaotic system in the presence of noise
[35] and in systems driven by common noise [36] has been
observed

Research Gaps
On the basis of Literature review following gaps are identified
Projective synchronization of Time delayed systems
Nonlinear Unknown Input Observer based synchronization
using Differential Mean Value Theorem
Adaptive Sliding Mode Observers are not explored to much
depth

Proposed Work
1. Synchronization with uncertain parameters
a) Adaptive Synchronization of chaotic/ hyperchaotic
systems with uncertainty in parameters
b) Extension to time delayed systems
c) Synchronization of different order systems

Proposed Work
2. Observer Based synchronization scheme
a) Observer design for NUIO (Nonlinear Unknown Input
Observer) case and extension to synchronization
b) Reduced order synchronization
3. Contraction Theory based synchronization scheme with
and without uncertainty.

Proposed Work
4. Robust Observer design and application to
synchronization
a) Sliding Mode based approach
b) Robust adaptive synchronization scheme
c) Synchronization in the presence of noise

Work done so far

Course Work
Subjects

Adaptive
Signal
Processing

Chaos Control
and
Synchronizatio
n

Nonlinear
Control

Research
Methodology

Grades

BC

AB

AB

Features of
chaos
Parameter
dependent
Synchronizati
on adaptive,
- observer
based, phase,
communicati
on

Feedback
Linearization
Sliding
Control
Backstepping
Adaptive
Control

Utility

Wiener filter
Steepest
descent algo
LMS algo
RLS algo

Work done so far

Synchronization of chaotic systems with uncertainty in
parameters
Adaptive Synchronization of time delayed chaotic systems
with parameter uncertainty
Nonlinear unknown input observer design
Sliding mode based observer design

Synchronization of Chaotic System

Unidirectional: Master-Slave
Synchronization in which typically two systems
are synchronized such that slave system
mimics the motion of master system.
Bidirectional: may involve several systems
synchronizing without prescribed hierarchy.

Master-Slave Synchronization
Master System
x f ( x) F ( x)
x Rm ;

f : Rm Rm

F : R m R mxk R k
is a parameter vector
of the sytem

Slave System
y g ( y ) G ( y ) U
y Rm ;

g : Rm Rm

G : R m R mxl Rl
is a parameter vector
of the sytem
U is the controller

Master-Slave Synchronization
Error vector
e y x
diag (1 , 2 ,..., m )

i 0
i 1 Complete Synchronization
i 1 Anti Synchronization
i Projective Synchronization

Master-Slave Synchronization
Error vector
e y x
diag (1 , 2 ,..., m )

i 0

Choose a suitable
controller such that

lim

y x 0

e y x
e g ( y ) G ( y )
( f ( x) F ( x) ) U
U g ( y ) G ( y ) f ( x)
F ( x) ke

Master-Slave Synchronization
Error vector
e y x
diag (1 , 2 ,..., m )

i 0

lim

y x 0

e y x
e g ( y ) G ( y )
( f ( x) F ( x) ) U
U g ( y ) G ( y ) f ( x)
F ( x) ke

e ke

Example
Hyper-Chaotic Lorenz

Lu System

x1 a1 ( x2 x1 ) x4
x2 c1 x1 x2 x1 x3

y1 a2 ( y2 y1 )

x3 x1 x2 b1 x3

y2 c2 y2 y1 y3

x4 x2 x3 d1 x4

y3 y1 y2 b2 y3

x1 , x2 , x3 , x4 are state variables

y1 , y2 , y3 are state variables

a1 , b1 , c1 , d1 are parameters

a2 , b2 , c2 are parameters

a1 10, b1 8 / 3

a2 36, b2 3, c2 20

c1 12, d1 1

Example
Hyper-Chaotic Lorenz

Lu System

Example
Hyper-Chaotic Lorenz
x1 a1 ( x2 x1 ) x4
x2 c1 x1 x2 x1 x3
x3 x1 x2 b1 x3
x4 x2 x3 d1 x4
x1 , x2 , x3 , x4 are state variables
a1 , b1 , c1 , d1 are parameters
a1 10, b1 8 / 3
c1 12, d1 1

Lu System
y1 a2 ( y2 y1 ) u1
y2 c2 y2 y1 y3 u2
y3 y1 y2 b2 y3 u3
y4 0 u 4
y1 , y2 , y3 are state variables
a2 , b2 , c2 are parameters
a2 36, b2 3, c2 20

Example
Error dynamics e y x
e1 a2 ( y2 y1 ) 1a1 ( x2 x1 ) 1 x4 u1
e2 c2 y2 y1 y3 2c1 x1 2 x2 2 x1 x3 u2
e3 y1 y2 b2 y3 3 x1 x2 3b1 x3 u3
e4 4 x2 x3 4 d1 x4 u4
e ke

Example
Error dynamics e y x
e1 a2 ( y2 y1 ) 1a1 ( x2 x1 ) 1 x4 u1
e2 c2 y2 y1 y3 2c1 x1 2 x2 2 x1 x3 u2
e3 y1 y2 b2 y3 3 x1 x2 3b1 x3 u3
e4 4 x2 x3 4 d1 x4 u4
u1 a2 ( y2 y1 ) 1a1 ( x2 x1 ) 1 x4 k1e1
u2 c2 y2 y1 y3 2 c1 x1 2 x2 2 x1 x3 k2 e2
u3 y1 y2 b2 y3 3 x1 x2 3b1 x3 k3e3
u4 4 x2 x3 4 d1 x4 k4 e4

Example

M-S Synchronization with Parameter

Uncertainty
Error vector
e y x
diag (1 , 2 ,..., m )

i 0

lim

y x 0

e y x
e g ( y ) G ( y )
( f ( x) F ( x) ) U
U g ( y ) G ( y ) f ( x)
F ( x) ke

e ke

M-S Synchronization with Parameter

Uncertainty
Theorem: If the adaptive controller U and the
adaptive laws are chosen as
U g ( y ) G ( y ) f ( x ) F ( x ) ke

F T ( x) T e
G T ( y )e
Then

lim
t

y x 0

M-S Synchronization with Parameter

Uncertainty
Proof: Let us choose the Lyapunov function as
1 T
V (e e T T )
2
V eT e T T
V ke e 0
T

where ; )

M-S Synchronization with Parameter

Uncertainty

M-S Synchronization with Parameter

Uncertainty

Observer Design

Synchronization of Chaotic System

using Observer
Master System
x(t ) Ax(t ) Bf ( x)

...(1)

where x R n ; A R nxn ; B R nxm

f ( x) : R n R m nonlinear vector
function
m is the number of nonlinearities

Synchronization of Chaotic System

using Observer
Master System

Observer

x(t ) Ax(t ) Bf ( x)

if f ( x) is scaler fucnction i.e. m 1

...(1)

where x R n ; A R nn ; B R nm
f ( x) : R n R m nonlinear vector
function
m is the number of nonlinearities

y (t ) f ( x) Kx(t ) where K R1n

Observer for the master system
x Ax (t ) Bf ( x ) B( y (t ) y (t )) ...(2)
where y (t ) f ( x ) Kx (t )
Define e(t ) x (t ) x(t )
e(t ) ( A Bk )e(t )
...(3)
by choosing suitable k error system (3)
can be made stable asymptotically
so x (t ) x(t ) as t

Synchronization of Chaotic System

using Observer
Master System
x(t ) Ax(t ) Bf ( x)
where x R ; A R
n

n n

Observer

...(1)
;BR

n m

if f ( x) is nonlinear vector fucnction

y (t ) K (t ) x(t )

where K R1n

f ( x) : R n R m nonlinear vector Observer for the master system

function
x Ax (t ) Bf ( x ) BK T (t)( y (t ) y (t )) ...(4)
m is the number of nonlinearities
e(t ) ( A BK T (t) K (t ))e(t ) B( f ( x) f ( x )) ...(5)

Synchronization of uncertain Chaotic

System using Sliding Mode Observer
Master System
x(t ) Ax(t ) Bf ( x) (t , x)

Observer
...(1)

where x R n ; A R nn ; B R nm
f ( x) : R n R m nonlinear vector
function

(t , x) : R R n R n denotes system
uncertainties
f ( x) r1

(t , x) r2

(t , x) B (t , x)

Synchronization of uncertain Chaotic

System using Sliding Mode Observer
Master System
x(t ) Ax(t ) Bf ( x) (t , x)

Observer
...(1) y (t ) Cx(t ) where C R pn

where x R n ; A R nn ; B R nm
f ( x) : R n R m nonlinear vector
function

(t , x) : R R n R n denotes system
uncertainties
f ( x) r1

(t , x) r2

(t , x) B (t , x)

y (t ) R p , p m
Robust Sliding Mode Observer
x Ax (t ) Bf ( x ) G (Cx y ) Bv ...(2)
G R n1 constant design parameter matrix
v( x , y ) R m is control input
e(t ) A0e(t ) B( f ( x ) f ( x) (t , x)) Bv ...(3)
where A0 A GC

Synchronization of uncertain Chaotic

System using Sliding Mode Observer
Sliding Surface is designed as
s Me FCe Fey F (Cx y )

...(4)

M R mn , F R m p
e [e1T e2T ] e1 R m , e2 R n m
A011 A012
B1
A0
B

0
A021 A022
e1 (t ) A011e1 (t ) A012e2 (t ) B1 ( f ( x ) f ( x) (t , x)) B1v ...(5a )
e2 (t ) A021e1 (t ) A022e2 (t )

...(5b )

So s can be rewritten as
s M 1e1 M 2e2
M 1 R mm , M 2 R m( n m )

...(6)

Synchronization of uncertain Chaotic

System using Sliding Mode Observer
Theorem: If the sliding mode manifold s (t ) is chosen as (4)
and the controller is designed as follows
v vl vn

...(7a)

vl f ( x )

...(7b)

( sT MB)T
vn T
(r1 r2 ) ...(7c)
s MB

Then master system (1) and slave system (2) get

synchronized

Synchronization of uncertain Chaotic

System using Sliding Mode Observer
Proof: consider the Lypunov function
1 T
1
1 T T
T
V (t ) s s ( Me) Me e M Me
2
2
2
the derivative of V (t ) along the error system (3) is
V (t ) sT s eT M T Me
= eT M T M ( A0e(t ) B( f ( x ) f ( x) (t , x)) Bv)
= eT (( M T MA0 A0T M T M ) / 2)e(t )
sT MBf ( x ) sT MBf ( x) sT MB (t , x) sT MBv
1
As ( M T MA0 A0T M T M )
2
max ( As ) 0
...(c1)

Synchronization of uncertain Chaotic

System using Sliding Mode Observer
V (t ) sT MBf ( x ) sT MBf ( x) sT MB (t , x) sT MBv
V (t ) sT MBf ( x) sT MB (t , x) sT MBvn
V (t ) MB s
V (t ) sT s s 0
The error system (3) will reach s 0 in finite time
tr s (0) /
on the surface s 0 error dynamics will be
s Me M 1e1 M 2e2 0
e1 M 11M 2e2
e2 (t ) ( A022 A021M 11M 2 )e2 AM e2 (t )
Design M s.t. AM is hurwitz

...(c2)

Synchronization of uncertain Chaotic

System using Sliding Mode Observer

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