Mathematical and Computer Modelling 52 (2010) 567–573

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Mathematical and Computer Modelling

journal homepage: www.elsevier.com/locate/mcm

Global anti-synchronization of master–slave chaotic modified Chua’s

circuits coupled by linear feedback control
Yun Chen ∗ , Minyong Li, Zhifeng Cheng
College of Electronic Engineering, Naval University of Engineering, Wuhan 430033, PR China

article info abstract

Article history: The global anti-synchronization of chaotic modified Chua’s circuits via linear feedback
Received 29 December 2009 control is investigated in this paper. A master–slave anti-synchronization scheme of
Received in revised form 24 March 2010 modified Chua’s circuits with linear feedback control is presented at first. Based on this
Accepted 26 March 2010
scheme, some sufficient criteria for global anti-synchronization are proved and optimized.
The effectiveness of the obtained criteria is illustrated by a numerical example.
Keywords:
© 2010 Elsevier Ltd. All rights reserved.
Chaos
Global anti-synchronization
Modified Chua’s circuit
Linear feedback control

1. Introduction

In the past twenty years, various types of synchronization have been proposed and investigated, e.g., complete syn-
chronization [1–5], lag synchronization [5–8], anticipated synchronization [5,9,10], phase synchronization [11–13], project
synchronization [14–17], generalized synchronization [18–20], etc. As a special case of generalized synchronization, anti-
synchronization is achieved when the sum of the state variables of master and slave system converges to zero asymptoti-
cally. It has been experimentally and numerically verified that the coupled chaotic systems can achieve anti-synchronization
[21–26]. Recently, some control methods have been utilized to anti-synchronize two identical or non-identical chaotic
systems and derive theoretically some sufficient anti-synchronization conditions, e.g., observer control [27,28], active
control [29–35], backstepping control [36], adaptive control [35–41], sliding mode control [42], nonlinear control [43–45],
H∞ control [46], etc.
Compared with the above nonlinear control method, linear feedback control is a simpler and more easily implemented
control technique available for chaos anti-synchronization. In 2006, Li and Liao used the linear feedback control to anti-
synchronize two identical classes of chaotic systems ẋ = Ax + f (x) and ż = Az + f (z ) which satisfy the condition that there
exists a positive constant L > 0 such that, for any x, z ∈ Rn , kf (x) + f (z )k ≤ L kx + z k where k·k denotes the Euclidean
norm of the vector, and proved some sufficient criteria for anti-synchronization [47]. However, as far as we know, sufficient
anti-synchronization criteria for the other types of chaotic systems via linear feedback control have received less attention
and the corresponding theoretical advances have not been made.
The modified Chua’s circuit is a chaotic system containing a cubic polynomial nonlinear term [48]. It originated from
Chua’s circuit by the substitution of a cubic polynomial function for the piecewise linear function of Chua’s circuit [48].
Obviously, the modified Chua’s circuit does not satisfy the condition given in [47]: there exists a positive constant L > 0 such
that, for any x, z ∈ Rn , kf (x) + f (z )k ≤ L kx + z k where k·k denotes the Euclidean norm of the vector (see Proposition A.1
in the Appendix). This paper is devoted to deriving analytically some sufficient criteria for global anti-synchronization of

∗ Corresponding address: Department 4th, Dianyuan, Jiefang Dadao 717, Qiaokou Qu, Wuhan 430033, PR China. Tel.: +86 027 63124699; fax: +86 027
63124699.
E-mail address: [email protected] (Y. Chen).

0895-7177/$ – see front matter © 2010 Elsevier Ltd. All rights reserved.
doi:10.1016/j.mcm.2010.03.056
568 Y. Chen et al. / Mathematical and Computer Modelling 52 (2010) 567–573

two coupled modified Chua’s circuits by linear feedback control. These criteria are in the form of algebraic inequality and
are easy to be implemented.
The remainder of the paper is organized as follows. Section 2 depicts the modified Chua’s circuit and constructs the
master–slave anti-synchronization scheme of two identical Chua’s circuits coupled by linear feedback control. Based on two
introduced lemmas, some sufficient algebraic criteria for global anti-synchronization are proved and optimized in Section 3.
In Section 4, a numerical example is given to verify the effectiveness of the obtained criteria. Finally, the conclusion is drawn
in Section 5.

2. System and scheme

The modified Chua’s circuit is described by


ẋ1 = p(x2 − (2x31 − x1 )/7),
ẋ = x − x + x3 , (1)
ẋ2 = −1qx , 2
3 2

where the parameters p > 0 and q > 0. Given some special parameter values, system (1) can exhibit complex chaotic
behaviors [3].
The matrix form of system (1) can be formulated as follows:
ẋ = Ax + f (x), (2)
where x = (x1 , x2 , x3 ) ∈ R ,
T 3
 
2px31
p 
p 0 − 7 
A = 7 1 , f (x) =  .
 
1 −1  0 
0 −q 0 0
The master–slave anti-synchronization scheme with two identical modified Chua’s circuits coupled by a linear feedback
controller u(t ) can be represented as
Master: ẋ = Ax + f (x),
(
Slave: ż = Az + f (z ) + u(t ), (3)
Control: u(t ) = −K (x + z ),
where z = (z1 , z2 , z3 )T ∈ R3 , and K = diag{k1 , k2 , k3 } is a constant diagonal coupling matrix to be determined.
Define the error vector e = x + z, i.e., e = (e1 , e2 , e3 )T = (x1 + z1 , x2 + z2 , x3 + z3 )T , and then one can obtain a dynamical
error system:
ė = (A − K )e + f (x) + f (z ) = [A − K + D(x, z )]e, (4)
where,
2pφ(x1 , z1 )
 
− 7
0 0
D(x, z ) =  , (5)

0 0 0
0 0 0
with φ(x1 , z1 ) = − x1 z1 + z12 .
x21
Our objective is to design the constant coupling matrix K such that the trajectories, x(t ) and z (t ), of the master and slave
modified Chua’s circuits in the scheme (3) satisfy
lim kx(t ) + z (t )k = 0, (6)
t →∞

where k · k denotes the Euclidean norm.

From the viewpoint of control theory, the anti-synchronization issue (6) is equivalent to the global uniform asymptotic
stability of error system (4) at e = 0. Hence, chaos anti-synchronization in the sense of (6) is referred to as global chaos
anti-synchronization.

3. Lemmas and criteria

In order to prove the sufficient criteria for the global chaos anti-synchronization of scheme (3), two lemmas must be
introduced as follows.

Lemma 1. For arbitrary ξ , ζ ∈ R, φ(ξ , ζ ) = ξ 2 − ξ ζ + ζ 2 ≥ 0.

√ √
Lemma 2. The function δ(u) = au + b/u for variable u > 0 has minimum δm = δ( b/a) = 2 ab, where both the constants
a and b are positive.
 Y. Chen et al. / Mathematical and Computer Modelling 52 (2010) 567–573 569

Theorem 1. Two modified Chua’s circuits in scheme (3) achieve global anti-synchronization if there exist two positive real
constants µ1 , µ2 and a coupling matrix K = diag{k1 , k2 , k3 } such that,
p
k1 > , (7)
7
( p + µ1 ) 2
k2 > −1 +
, (8)
4µ1 k1 − 7
p

k1 − 7 (µ1 − µ2 q)2
p


k3 > . (9)
µ2 4µ1 k1 − 7p (1 + k2 ) − (p + µ1 )2


Proof. To investigate the global asymptotic stability of error system (4) at e = 0, we take a positive definite, decrescent and
radially unbounded quadratic Lyapunov function
V (e) = eT Pe, P = diag{p0 , µ1 p0 , µ2 p0 },
with p0 , µ1 , µ2 > 0.
Based on Lemma 1, the derivative of V (e) for time t along the trajectory of dynamical error system (4) is equal to
V̇ (e) = ėT Pe + eT P ė = eT {[A − K + D(x, z )]T P + P [A − K + D(x, z )]}e
= eT [(A − K )T P + P (A − K )]e + eT [D(x, z )T P + PD(x, z )]e
4pφ(x1 , z1 )
= eT [(A − K )T P + P (A − K )]e − p0 e21
7
≤ e [(A − K ) P + P (A − K )]e.
T T

Thus V̇ (e) < 0, provided that the matrix S = (A − K )T P + P (A − K ) is negative definite.

Again, it is easy to obtain
 p  
2 − k1 p + µ1 0
 7
S = (A − K )T P + P (A − K ) =  p .

p + µ1 −2µ1 (1 + k2 ) µ1 − µ2 q  0
0 µ1 − µ2 q −2µ2 k3
According to the Schur complement in matrix theory [49], the above symmetric matrix S is negative definite if and only
if
p  !
2 − k1 p + µ1
7 < 0, (10)
p + µ1 −2µ1 (1 + k2 )
and
T p  ! −1 
p + µ1
 
0 2 − k1 0
− 2µ2 k3 − 7 < 0, (11)
µ1 − µ2 q p + µ1 −2µ1 (1 + k2 ) µ1 − µ2 q

namely,
p
(µ1 − µ2 q)2


k1 −
k3 > 7
.
µ2 4µ1 k1 − p
(1 + k2 ) − (p + µ1 )2


7

Again, (10) is satisfied if and only if

p 
2 − k1 < 0,
7
 p
4µ1 k1 − (1 + k2 ) − (p + µ1 )2 > 0.
7
Thus the symmetric matrix S is negative definite provided that inequalities (7)–(9) are satisfied. It follows from the
Lyapunov stability theorem for a non-autonomous system (Theorem 4.1 in [50]) that dynamical error system (4) is globally
uniformly asymptotically stable, so scheme (3) is globally anti-synchronized.
This completes the proof. 

Remark 1. In practice, it is always expected that the sufficient criterion can provide a wide range of coupling coefficients
ki (i = 1, 2, 3). Such a criterion is thought to be sharper. Thus, an interesting optimization issue is to choose µ1 , µ2 > 0
570 Y. Chen et al. / Mathematical and Computer Modelling 52 (2010) 567–573

0.3
0.2
0.2
0.1 0.1
x2 0
-0.1 z2 0
-0.2
-0.3 -0.1
-0.4
2 -0.2
1 1.5 2
0 1 1
0.5 1
x3 -1 0 0.5
x1 0 0
-0.5 z3
-2 -1 -1 -0.5 z1
-2 -1
a b
Fig. 1. Chaotic attractors of modified Chua’s circuits with the parameters p = 10 and q = 100/7: (a) master system; (b) uncontrolled slave system.

such that the values of the functions,

(p + µ1 )2 p2
 
1
∆1 (µ1 ) = −1 +
= −1 +
µ1 + + 2p , (12)
4µ1 k1 − 7
p p
4 k1 − 7 µ1
and
p
(µ1 − µ2 q)2


k1 −
∆2 (µ1 , µ2 ) = 7
, (13)
µ2 4µ1 k1 − p
(1 + k2 ) − (p + µ1 )2


7

arrive at minimum simultaneously.

Using Lemma 2, we have the minimum of ∆1 as follows,
p
∆1m = ∆1 (p) = −1 + p .
k1 − 7
From equality (13), it is clear that the minimum of ∆2 is ∆2m = ∆2 (µ2 q, µ2 ) = 0.
As a result, the anti-synchronization criterion (7)–(9) can be optimized to produce the following corollary.

Corollary 1. Two modified Chua’s circuits in scheme (3) achieve global anti-synchronization if there exists a coupling matrix
K = diag{k1 , k2 , k3 } such that,
p
k1 > , (14)
7
p
k2 > −1 + p , (15)
k1 − 7

k3 > 0. (16)

Let k2 = 0; then one has the following anti-synchronization conditions stated in Corollary 2.

Corollary 2. Two modified Chua’s circuits in scheme (3) achieve global anti-synchronization if there exists a coupling matrix
K = diag{k1 , 0, k3 } such that,
8p
k1 > , (17)
7
k3 > 0. (18)

Let k1 = k2 = k3 = k; then Corollary 3 follows from Corollary 1.

Corollary 3. Two modified Chua’s circuits in scheme (3) achieve global anti-synchronization if there exists a coupling matrix
K = kI such that,
( )
(p − 7)2 + 224p
p
p p−7+
k > max , . (19)
7 14

Remark 2. The techniques suggested in the paper are also suitable for deriving the sufficient global anti-synchronization cri-
teria for the other chaotic systems with cubic nonlinearity, for example, the modified van der Pol–Duffing oscillator [51], etc.
 Y. Chen et al. / Mathematical and Computer Modelling 52 (2010) 567–573 571

2
x1+z1
0

-2
0 5 10 15 20 25 30

0.5

x2+z2
0

-0.5
0 5 10 15 20 25 30

0
x3+z3

-1

-2
0 5 10 15 20 25 30
t

Fig. 2. Global anti-synchronization of two identical chaotic modified Chua’s circuits coupled by K = diag{8, 0.53, 0.0001}.

2
x1+z1

-2
0 5 10 15 20 25 30

0.5

x2+z2 0

-0.5
0 5 10 15 20 25 30

0
x3+z3
-1

-2
0 5 10 15 20 25 30
t

Fig. 3. Global anti-synchronization of two identical chaotic modified Chua’s circuits coupled by K = diag{12, 0, 0.00001}.

4. Example and simulation

In this section, an example is provided to verify the effectiveness of the obtained criteria. Consider a modified Chua’s
circuit with the parameters p = 10 and q = 100/7. The initial conditions of the master and slave modified Chua’s circuits
are freely selected as x(0) = (0.65, 0, 0)T and z (0) = (0.2, 0.1, 0.1)T respectively. The chaotic trajectories of master and
slave systems are illustrated in Fig. 1. Using criteria (14)–(16), one can derive a coupling matrix K = diag{8, 0.53, 0.0001},
which leads to anti-synchronization of the master–slave chaotic systems, as shown in Fig. 2. According to (17) and (18), one
gets another coupling matrix K = diag{12, 0, 0.00001}, which makes the master–slave chaotic systems anti-synchronized,
as seen in Fig. 3. In terms of (19), one has another coupling matrix K = 3.7I, which anti-synchronizes the master–slave
chaotic systems, as seen in Fig. 4.
572 Y. Chen et al. / Mathematical and Computer Modelling 52 (2010) 567–573

x1+z1 2

-2
0 5 10 15 20 25 30

0.5

x2+z2 0

-0.5
0 5 10 15 20 25 30

0.5

0
x3+z3
-0.5

-1
0 5 10 15 20 25 30
t

Fig. 4. Global anti-synchronization of two identical chaotic modified Chua’s circuits coupled by K = 3.7I.

5. Conclusion

Some sufficient global anti-synchronization criteria for the master–slave modified Chua’s circuits coupled by linear
feedback control have been rigorously proved, optimized and numerically verified. All the criteria are in the simple algebraic
form and are easy to apply to design and to analyze the anti-synchronization controller.

Acknowledgements

This research is partly supported by the National Natural Science Foundation of China under Grant No. 60674049. The
authors would like to thank the anonymous reviewers for their constructive comments. The authors would also like to thank
Dr. Zhifang Gui for his useful suggestions.

Appendix

Lemma A.1 (Lemma 3.3 in [52]). If f (t , x) and [∂ f /∂ x](t , x) are continuous on [a, b] × Rn , then f is globally Lipschitz in x on
[a, b] × Rn if and only if [∂ f /∂ x] is uniformly bounded on [a, b] × Rn .
Proposition A.1. The modified Chua’s circuit does not satisfy the condition given in [47]: there exists a positive constant L > 0
such that, for any x, z ∈ Rn , kf (x) + f (z )k ≤ L kx + z k where k·k denotes the Euclidean norm of the vector.
 T
2px31
Proof. Let y = −z ∈ R3 . For Chua’s circuit, f (x) = − 0 0 ; hence we have
7
kf (x) + f (z )k = kf (x) − f (−z )k = kf (x) − f (y)k .
Therefore, Proposition A.1 is equivalent to the following.

Proposition A.2. The modified Chua’s circuit does not satisfy the condition: there exists a positive constant L > 0 such that, for
any x, y ∈ Rn , kf (x) − f (y)k ≤ L kx − yk.
Since
6px21
 
− 0 0
[∂ f /∂ x] =  7

0 0 0

0 0 0

is not uniformly bounded on R3 , it follows from Lemma A.1 that the nonlinear function f (x) of the modified Chua’s circuit is not
globally Lipschitz, which implies that Proposition A.2 holds.
This ends the proof. 
 Y. Chen et al. / Mathematical and Computer Modelling 52 (2010) 567–573 573

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