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__ 23 March 1998

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EL.S!ZVlER Physics Letters A 240 ( f998) Y-59

PHYSICS LETTERS A

Synchronization using linear and nonlinear feedbacks:

a comparison
R Parmananda

Received I5 May 1997; revised manuscript received 13 October 1997: accepted for publication 5 January 1998
Communicated by A.P. Fordy

Abstract

We compare the efficiency of using a nonlinear function compared to a linear function in the feedback term used to
attempt synchronization of two logistic maps. Using a linear function in the feedback term, synchronization is achieved in
certain cases when the two systems are operating at identical parameter values. However. for maps operating under different
parameter conditions exhibiting a different qualitative behavior (generalized synchronization), linear feedback is successful
in attaining only partial synchronizarion. In comparison, feedback using nonlinear terms is successful in achieving both
synchronization and generalized synchronization. Using nonlinear feedback. the dynamics of the response system can be
converted from chaotic to periodic (chaos control), from one period to the other and even from periodic to chaotic (chaos
anticontrol), depending on the dynamical behavior of the drive system. This is of possible relevance to various systems.
where in certain situations the emergence of chaos is undesirable, while under different circumstances loss of the chaotic
dynamics corresponds to failure. @ 1998 Elsevier Science B.V.

PACS: 05.4S.+b

1. Introduction as follows. We introduce the feedback control tech-

nique used to attempt synchronization in the follow-
Interest in synchronization of chaos has increased ing section. In Section 3, the results for the feedback
because of its possible relevance IO secure commu- term constructed using a linear function are presented.
nications. It started out with efforts to synchronize The results of synchronization and generalized syn-
identical systems [l-5], but lately much emphasis chronization using a nonlinear function in the feed-
has been laid on the synchronization of non-identical back term are discussed in Section 4. Finally, we con-
systems [ 6,7] (generalized synchronization). In this clude by comparing results from using the two differ-
Letter, both synchronization and generalized synchro- ent feedback terms.
nization of logistic maps is studied using a general-
ization of the continuous feedback technique [ 8-101.
The superimposed feedback term used to attempt syn- 2. Synchronization using a feedback strategy
chronization is constructed using both linear and non-
linear functions to compare their relative efficiency In this section we introduce the feedbacks used to
in achieving synchronizaton. This Letter is organized synchronize two logistic (quadratic) maps described

0X75-9601 /98/$19.00 @ 1998 Elsevier Science B.V. All rights reserved

PlfSO375-9601(98)00039-5
X ,!+, = 1 -ax;, y,+,= 1 - ay;, (1)
and operating at identical or different parameter val-
ues. For the values of the nonlinearity a > 1.55 this
discrete system (quadratic map) exhibits chaotic dy-
namics.
The synchronizing strategy used here is a modifi-
cation of the external force control technique [8-IO]
used to control chaos. The feedback superimposed
onto the evolution equation of the response system is
constructed using a linear function (Section 2.1) and
a nonlinear function (Section 2.2) as described below,
Fig. I. Plot of the difference in the dynamics (X, ~ I;, ); propor-
rewriting the two logistic maps of Eq. ( 1) as
tional to the synchronizing linear feedback (Eq. (3) ) asa function
of iteration number (II). It indicates clearly the synchromzation
Xflfl = f(X,,). x,+1 = f(G)9 (2) of the dynamics subsequent to which the feedback vanishes.

for convenience, where the functions f(X,,) and X ntl = f(X,,) pY(fcX,) - f(K) ). (6)
f(Y!) in Eq. (2) have the quadratic form shown in
Eq. (I).
3. Results from implementation of the linear
2.1. Continuous linear feedback feedback

Assume that the state space variable of both systems
can be measured, for example, X, from the response
system and Y, from the drive system. The feedback
signal (F,,) at the rrth step could be the difference
6, = Y(X, - r,!), (3)
which is superimposed as a negative feedback on the
evolution equation of the response system as
X rr+l = j-(X,,) - Y(X, - K). (4)
The absolute value of the difference can be chosen to
ensure that the superimposed feedback always stays
negative.
2.2. Continuous nonlinear- feedback
In this case a nonlinear function is used in the super-
imposed feedback term. The nonlinear function f( X,)
of the response system and f( 8,) from the drive sys-
tem are measured, and the feedback,
6, = y(.f(X,,) - f(K)). (5)
is superimposed as a negative feedback to the evolu-
tion equation of the response system as
For the two logistic maps at identical parameter
values, the linear feedback was successful in achiev-
ing complete synchronization, with the feedback
F,, = rabs(X,, - Yn) (y = 0.7) vanishing subsequent
to the dynamics of the response system locking on
to the dynamics of the drive system. Subsequent to
the activation of the feedback, the dynamics of the
response system dictated by Eq. (4), converges to the
dynamics of the drive system. This synchronization
is clearly exhibited in Fig. 1 which plots the differ-
ence in the dynamics of the two systems (X, ~ Y,,).
Beyond iteration number 5000 the difference goes to
zero indicating successful synchronization (absolute
convergence).
In case of maps at different parameter values (gen-
eralized synchronization) where the dynamics were
qualitatively different (response (chaotic) ; drive (pe-
riod 2)) to begin with, partial synchronization was
achieved using a linear feedback. Fig. 2a shows the
dynamics of the response system before and after
synchronization. Subsequent to the activation of the
feedback (II > 5000)) the dynamics of the response
system converts from chaotic to period-2 dynamics
under the influence of the feedback (y abs( X,, - Y:,) ) .
Although by virtue of the feedback the two systems
 F! Parmunandu/P}l~lvsic,,~ Letters A 240 (1998) 55-59 57

-1 0 1
0 2000 4000
ITERATION
6000
NUMBER (n)
8000
I
10000
.oe9 0 2000 4000
ITERATION
6000
NUMBER (n)
8000 II

05

-1 0 ’
0 2000 4000 6000 8000
ITERATION NUMBER (n) ITERATION NUMBER (n)

Fig. 2. Time evolution plots for non-identical quadratic maps
(different values of the system parameter n) (a) The dynamics
of the response system at u = 1.7 prior to the implementation of
the linear feedback (n < 5000) exhibits chaotic dynamics, while
subsequent to initiation of the linear feedback (Eq. (3)) with
y = 0.6 (n > 5000) it exhibits period-2 dynarmcs due to partial
synchronization with the dynamics of the drive system. (b) Plot
of the difference in the dynamics (X, - Y,,): it IS proportional to
the linear feedback (Eq. (3) ). It indicates partial synchronization
as the difference in the dynamics of the drive and the response
system does not vanish.
Fig. 3. Time evolution plots for non-identical quadratic maps
(different values of the system parameter (I). (a) The dynamics
of the response system at a = I.1 prior to implementation ot’ the
linear feedback (n < 5000) exhibits period-? dynamics, while
subsequent to inmation of the linear feedback (Eq. (3) ) with
y = 0.6 (U > 5000) it exhibits period-l dynamics due to partial
synchronization with the dynamics of the drive system. (b) Plot
of the difference in the dynamics (X, - Y,); it is proportional to
the linear feedback (Eq. (3) ). It indicates partial synchronization
as the difference m the dynamics of the drive and the response
system does not vanish.

exhibit different parameter values exhibiting non-similar pe-

hence the synchronization
shown in Fig. 2b
ence between the dynamics
vanish subsequent
Thus, for unequal parameter
ferent dynamical responses,
back acts as an entrainment,
system to be qualitatively
drive system.
Finally,
riodic (different periods) dynamics. Fig. 3a shows
the differ- the conversion of the period-2 dynamics (a = I. I)
(n < 5000) to the period- 1 dynamics (a = 0.7) sub-
sequent to the implementation of the synchronizing
with dif- feedback. The partial nature of the synchronization
feed- achieved is indicated by the non-vanishing difference
in the dynamics of the response and the drive system.
This again is an example of the entrainment of the
dynamics of the response system via a non-vanishing
feedback.
 10

05

z=z
r
> 00
k
x1

., 0
ITERATION NUMBER (n)

Fig. 4. Plot of the difference in the dynamics (X,, - Y,,): it clearly

indicates the synchronization 01’the dynamics subsequent to which
the feedback vanishes. ./ : - .,,. ,;, :;::,
" ,,,;'
':: :
1 : :

4. Results from implementation of the nonlinear

feedback

As in the previous section, two logistic maps at iden-

tical parameter values are considered. Using a non-
linear feedback (F, = y( f( X,) - f(K)) ), complete
synchronization (absolute convergence) was achieved
for y = 1.O, with the feedback vanishing subsequent
to the convergence of the dynamics of the response
system to that of the drive system. This complete con- Fig. 5. Time evolution plots for non-identical quadratic maps
vergence is exhibited in Fig. 4 which plots the differ- (different values of the system parameter a). (a) The dynamics
ence in the dynamics of the two systems (X,, - r,) of the response system at (I = 2.0 prior to implementation of the

Beyond iteration step 5000 the difference goes to zero linear feedback (n < 5000) exhibits chaotic dynamics, while
subsequent to initiation of the nonlinear feedback (Eq. (5) ) with
indicating successful synchronization.
y = 0.8 (R > SOOO) it exhibits period-2 dynamics due to partial
In the case of generalized synchronization when the synchronization with the dynamics of the drive system. (b) Plot
dynamics of the two maps are qualitatively different of the difference in the dynamics (X, - Y,,) of the two maps. It
(maps are at different values of the nonlinearity pa- indicates complete synchronization accompanied by the vanishing
rameter (a) ) complete synchronization is achieved of the synchronizing feedback.

using a nonlinear feedback. Moreover, the synchroniz-

ing feedback vanishes subsequent to the convergence
in the dynamics of the drive and the response sys-
tem. Fig. 5a shows the dynamics of the response sys-
tem (a = 2.0) before and after synchronization. Sub-
sequent to the activation of the feedback, the dynam-
ics converges to the period-2 dynamics of the drive
system completely. This is indicated in Fig. 5b, where
the difference between the dynamics of the two maps
vanishes subsequent to absolute convergence.
Finally, we attempt the conversion of the periodic
dynamics to a target chaotic state via synchroniza-
tion using nonlinear feedback. This could be of im-
mense importance to some biological systems where
the loss of a certain type of chaotic dynamics is as-
sociated with failure. Fig. 6a shows the dynamics of
the response system. Prior to the activation of the syn-
chronizing feedback, the dynamics exhibits a period- 1
state (u = 0.7). Subsequent to implementation of the
feedback, the dynamics of the response system con-
verges to the target chaotic dynamics of the drive sys-
tem at a = 2.0. Absolute convergence of the dynamics
is manifested by the vanishing (Fig. 6b) of the feed-
back essentially rendering the two systems uncoupled
and exhibiting identical (target) chaotic behavior.
 I? P~irtnannn[lu/Pll~.~i~.~ Letters A 240 (1998) 55-59 59

10
function in the synchronizing feedback. By appropri-
ately choosing the target state (dynamics of the drive
system), one can convert the dynamics of the response
05
system from chaotic to periodic (controlling chaos),
from one period to the other and even from periodic
00
to chaotic (chaos anticontrol/inception). This ability
to dictate the dynamics of the response system could
be extremely relevant to various experimental situa-
-0 5 tions. Not only is the synchronization to the target or-
bit attained almost instantly but the coupling between
the two systems vanishes upon successful synchro-
-10 1 I
nization. This is similar to controlling chaos since the
0 2000 4000 6000 8000 10000
ITERATION NUMBER (n) control signal vanishes upon successful attainment of
the target orbit/dynamics. The results for the super-
imposed feedbacks have a strong dependence on the
value of the control constant y (strength of the super-
10 imposed feedback term). In case of nonlinear feed-
backs, there usually exists a certain threshold (mini-
mum) value of y beyond which both synchronization
and generalized synchronization can be achieved

oc
Acknowledgement

-05 ’ I
The author acknowledges financial support from
0 2000 4000 6000 6000 10000
CONACyT under Project Ref. No. 4873.
ITERATION NUMBER (n)

Fig. 6. Time evolution plots for non-identical quadratic maps (dif- References
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(b) Plot of the difference in the dynamics (X, - V, ) of the two [S] K.M. Cuomo. A.V. Oppenhiem, Phys. Rev. Lett. 71 ( 1993)
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1IO] G. Malescio, Phys. Rev. E 53 ( 1996) 2949.
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