Meccanica (2021) 56:255–273
https://doi.org/10.1007/s11012-020-01283-2 (0123456789().,-volV)
( 01234567
89().,-volV)
Suppression of chaos in nonlinear oscillators using a linear
vibration absorber
Vinı́cius Piccirillo
Received: 8 June 2020 / Accepted: 28 November 2020 / Published online: 4 January 2021
Ó Springer Nature B.V. 2021
Abstract This paper proposes a nonfeedback con-
trol to suppress the chaotic response of nonlinear
oscillators. A linear vibration absorber is used as
nonfeedback method, whose key idea is to find
conditions under which the nonlinear oscillator
response converges to an equilibrium point or stay
oscillating around it. Theoretical results show that if
the ratio between the natural frequencies of the
primary system ðx1 Þ and the undamped absorber
ðx2 Þ, that is, xr ¼ xx1 is tuned to be equal to the
2
excitation frequency ðXÞ, then the chaotic behavior of
a nonlinear oscillator is driven to a stable hyperbolic
equilibrium point. Numerical results are presented for
the Duffing oscillator shown that if xr is tuned close to
excitation frequency, then the chaotic response of the
Duffing oscillator is driven to periodic orbits. In the
case of damped absorber, xr to be tuned close to the
excitation frequency does not guarantee that the
response of the primary system is periodic, it is also
necessary to take into account the amplitude of the
excitation.
Keywords Linear vibration absorber  Chaos
suppression  Periodic orbits  Equilibrium point 
Duffing oscillator
V. Piccirillo (&)
Department of Mathematics, Federal Technological
University of Parana UTFPR, Ponta Grossa,
PR 84016-210, Brazil
e-mail: piccirillo@utfpr.edu.br
1 Introduction
Over the years several kinds of vibration devices have
been developed in order to reduce the vibration level
of mechanical or civil engineering structures. It is
possible to classify these vibration devices into three
categories, namely, passive, semi-active, and active
vibration isolators. As regard to passive methodology,
the most common device used is the dynamic vibration
absorber (DVA). A DVA is constituted of a spring-
mass (or spring-mass-damper) system attached to a
structure with the aim to suppress its vibrations. The
role of a DVA is to absorb the vibration energy from
the primary system (structure), thus minimizing the
vibrations of this system. Several works focused on
analyzing the influence of linear and nonlinear DVAs
in a primary system [1–7].
The behavior of oscillators has been widely
studied because many systems can be modeled by
linear or nonlinear oscillators. In particular, the
nonlinear oscillators can be shown a rich dynamic
behavior either with periodic or chaotic responses.
Control of nonlinear systems with chaotic behavior is
one of the most important topics in nonlinear science.
The concept of chaos control was first introduced in
[8]. There are numerous different strategies sug-
gested to chaos control, in particular, there is one
approach that does not use any measurements or extra
sensors, this strategy is so-called nonfeedback con-
trol. With the introduction of an appropriately
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256
external force, one can change the complex behavior
of the nonlinear system, this is the key idea of
nonfeedback control. Nonlinear oscillators may pre-
sent chaotic behavior then different control strategies
can be employed in this subject, and it is the focus of
the present study. One strategy is to stabilize the
chaotic response by adding a small periodic distur-
bance with only one harmonic frequency [9] or a
combination of harmonics [10] to the system, this
strategy is known as open-loop periodic perturbation
method [11]. Another method to chaos control is the
Continuous Delayed Feedback Method which is
known as Pyragas Method [12]. The goal of this
method is to stabilize the chaotic response, and this is
done by applying a feedback force given by the
difference between the current state of the system and
the state with a delay time [11]. Hunt [13] proposed a
method know as Occasional Proportional Feedback
Method where the goal is to stabilize the chaotic
response with the following strategy: first it is
necessary to measure the signal peaks inside a
selected observation window (discrete-time), then a
perturbation of the control parameter linearly pro-
portional to the distance of the peak from the window
center is applied [11]. In the OGY method [8], small
perturbations in a previously calculated control
parameter of the system when its trajectory is in the
neighborhood of a fixed point, without changing the
dynamics to be controlled, can stabilize an unsta-
ble periodic orbit, pre-existing in the undisturbed
system. Sinha et al. [14] use a combination of
nonlinear feedforward and linear feedback control to
suppress the chaotic motion of Duffing’s oscillator
and the Rössler system. Sharma et al. [15] use the
same methodology of [14] to control the chaos of a
general nonlinear system to desired motions like as
periodic, quasiperiodic motion, or a fixed point where
this behavior does not need to be a solution of the
nonlinear system. Several authors applied the Mel-
nikov function to control the homoclinic and hetero-
clinic chaos in nonlinear oscillators which are
perturbed by small external forcing and damping
force [16, 17]. Kapitaniak et al. [18] proposed a DVA
for chaos control in a Chua circuit and Duffing
oscillator. The dynamical analysis of both systems
was given as a function of the absorber control
parameter where was obtained stability regions of
periodic solutions.
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Meccanica (2021) 56:255–273
This paper proposes the chaos suppression in
nonlinear oscillators using a linear vibration absorber
(LVA). This strategy is similar to proposed by [18] but
here the design of the LVA is done to any nonlinear
system in which desired to change the behavior of the
system from chaos to a stable hyperbolic equilibrium
point. In a particular case, the Duffing oscillator with
twin-well is studied and several parameter spaces and
bifurcation scenarios are discussed to explore the
elimination of chaos behavior in this oscillator.
Results show that for certain conditions the LVA is
useful for suppressing the chaotic response of nonlin-
ear oscillators.
2 Mathematical model
In order to suppress the chaotic motion of a general
one-degree-of-freedom nonlinear oscillator excited by
an external periodic force, an LVA is attached to the
primary oscillator. The problem is formulated as
follows:
2.1 Nonlinear oscillator
Consider an oscillator with a mass m1 connected to
two elements; one of them has a generic nonlinear
restoring force given by g2 ðÞ (corresponding to the
stiffness of the oscillator), the other one has a linear or
nonlinear dissipation force given by g1 ðÞ (corre-
sponding to dissipation element) with g1 ð0Þ ¼ 0. Here
this kind of oscillator is called primary system and
Fig. 1 illustrates such system
Assuming that the system is excited by the force
FðtÞ ¼ F cosðxtÞ, where F; x 2 Rþ , y1 ðtÞ is the mass
displacement and the prime denotes differentiation
with respect to time t. Therefore, the mathematical
modeling of this problem is given by the following
equation of motion
Fig. 1 Nonlinear oscillator
Meccanica (2021) 56:255–273 257

m1 y001 þ g1 ðy01 Þ þ g2 ðy1 Þ ¼ F cosðxtÞ ð1Þ and linear restoring force g4 ðÞ. The equations of
motion of a nonlinear oscillator with an LVA attached
The equation of motion of the oscillator may be as depicted in Fig. 2 has the form:
expressed in the nondimensional form
m1 y001 þ g1 ðy01 Þ þ g3 ðy1 Þ þ g3 ðy01  y02 Þ þ g4 ðy1  y2 Þ ¼ F cosðxtÞ
u€1 þ f1 ðm1 ; L; x1 ; u_1 Þ þ f2 ðm1 ; L; x1 ; u1 Þ ¼ A cosðXsÞ m2 y002  g3 ðy01  y02 Þ  g4 ðy1  y2 Þ ¼ 0
ð2Þ ð6Þ
The dots represent the derivatives with respect to the Therefore, the nondimensional equations of motion
nondimensional time, s, defined as s ¼ x1 t where x1 of the nonlinear oscillator with LVA may be described
is related to the natural frequency of the oscillator and by
L is the length of stiffness element (that was used here
u€1 þ f1 ðm1 ; L; x1 ; u_1 Þ þ f2 ðm1 ; L; x1 ; u1 Þ
to get the dimensionless Eq. 2). In addition, the other
nondimensional variables are: þmr f3 ðm2 ; x1 ; u_1  u_2 Þ þ mr f4 ðm2 ; x1 ; u1  u2 Þ
¼ A cosðXsÞu€2  f3 ðm1 ; L; x1 ; u1  u2 Þ
y1 x F
u1 ¼ ; X ¼ ; A¼ ; f4 ðm1 ; L; x1 ; u1  u2 Þ
L x1 m1 Lx21
¼0
1
f1 ðm1 ; L; x1 ; u_1 Þ ¼ g1 ðLx1 u_1 Þ; ð3Þ ð7Þ
m1 Lx21
1 where
f2 ðm1 ; L; x1 ; u1 Þ ¼ g2 ðLu1 Þ
m1 Lx21 y1 y2 x
u1 ¼ ; u2 ¼ ; X ¼ ;
L L x1
Defining x1 ¼ u1 and x2 ¼ u_1 , then the Eq. (2) can be
written as a first-order system F m2
A¼ ; mr ¼ ;
m1 Lx21 m1
x_1 ¼ x2
1
x_2 ¼ A cosðXsÞ  f1 ðm1 ; L; x1 ; x2 Þ  f2 ðm1 ; L; x1 ; x1 Þ f1 ðm1 ; L; x1 ; u_1 Þ ¼ g1 ðLx1 u_1 Þ;
m1 Lx21
ð4Þ ð8Þ
1
f2 ðm1 ; L; x1 ; u1 Þ ¼ g2 ðLu1 Þ;
Now, suppose that A ¼ 0, then, the equilibrium point m1 Lx21
of the system (4) is x ¼ ðx1 ; x2 Þ 2 R2 , namely 1
f3 ðm2 ; x1 ; u1  u2 Þ ¼ g3 ðu_1  u_2 Þ;
m2 x1
x2 ¼ 0
ð5Þ 1
f1 ðm1 ; L; x1 ; x2 Þ þ f2 ðm1 ; L; x1 ; x1 Þ ¼ 0 f4 ðm2 ; x1 ; u1  u2 Þ ¼ g4 ðu1  u2 Þ
m2 x21
If g1 ð0Þ ¼ 0 (hypothesis), then, f1 ðm1 ; L; x1 ; 0Þ ¼ 0
and suppose that exist at least one pS 2 R such that
f2 ðm1 ; L; x1 ; pS Þ ¼ 0. Therefore, x ¼ ðpS ; 0Þ is an
equilibrium point of the nonlinear oscillator when
A ¼ 0.

2.2 Linear vibration absorber

In order to suppress the chaotic motion of a nonlinear

system given by Fig. 1 in a possible range of
amplitudes and frequencies of the external force, it
will be introducing the linear vibration absorber
(LVA). The LVA is constituted of a concentrated
mass m2 , which is attached to a primary system
through an element with linear dissipation force g3 ðÞ Fig. 2 LVA absorber attached to a nonlinear oscillator

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3 Theoretical results
The theoretical results presented here are applicable in
the case of an undamped LVA, that is, g3 ðÞ ¼ 0. Thus,
the main objective of the control design is to find the
values of the parameters of the LVA to bring the
chaotic response of the Eq. 7 to a desired non-chaotic
response. The following results give these conditions.
Proposition 1 Consider the system 7 and assume
that f1 ðÞ is a linear or nonlinear function with
f1 ð; 0Þ ¼ 0, f2 ðÞ is a nonlinear function with
f2 ð; pS Þ ¼ 0, for some pS 2 R, f3 ðÞ ¼ 0 and f4 ðÞ is
a linear function. Suppose that mr ; X; A [ 0 and x ¼
ðpS ; 0Þ 2 R2 be a stable hyperbolic equilibrium point
of the Eq. 5, if
mr f4 ðÞ  A cosðXsÞ ¼ 0
in Eq. 7 then u1 ¼ pS .
Proof Suppose mr f4 ðÞ  A cosðXsÞ ¼ 0, then in
Eq. 7, which implies that
u€1 þ f1 ðm1 ; L; x1 ; u_1 Þ þ f2 ðm1 ; L; x1 ; u1 Þ ¼ 0
is true if u1 ¼ pS , for pS 2 R.
Lemma 1 For every A; X [ 0,  6¼ 0 and u 6¼ 0
mr f4 ðm2 ; L; x1 ; u1  u2 Þ  A cosðXsÞ ¼  cosðXs þ uÞ
ð10Þ
if and only if f4 ðm2 ; L; x1 ; u1  u2 Þ is a periodic
function.
Proof If
mr f4 ðm2 ; L; x1 ; u1  u2 Þ  A cosðXsÞ ¼  cosðXs þ uÞ
ð11Þ
then
1 mr X
f4 ðm2 ; L; x1 ; u1  u2 Þ ¼ ðB cosðXsÞ  C sinðXsÞÞ
mr
ð12Þ
where B ¼ A þ  cosðuÞ and C ¼  sinðuÞ, so that
f4 ðm2 ; L; x1 ; u1  u2 Þ is a periodic function.
On the other hand, if f4 ðm2 ; L; x1 ; u1  u2 Þ is a
periodic function, hence it is assumed that
1
f4 ðm2 ; L; x1 ; u1  u2 Þ ¼ ðB cosðXsÞ  C sinðXsÞÞ
mr
ð13Þ
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Meccanica (2021) 56:255–273
with B ¼ A þ  cosðuÞ and C ¼  sinðuÞ, without loss
of generality. Then using 13, it can be obtained (10). h
Theorem 1 Suppose that the assumptions made in
Proposition 1 hold. Suppose that u1 ¼ /ðsÞ and u2 ¼
wðsÞ are bounded solutions of Eq. (7), namely,
j/ðsÞj  M1 and jwðsÞj  M2 for M1 ; M2 [ 0 and 8s.
If xr ¼ X, then mr f4 ðÞ  A cosðXsÞ ¼ 0.
Proof Suppose j/ðsÞj  M1 , jwðsÞj  M2 and xr ¼
X but mr f4 ðÞ  A cosðXsÞ 6¼ 0, and show that this
leads to a contradiction.
First, note that g4 ðÞ (in Eqs. 6 and 8) is a linear
function in terms of u1  u2 , thus, is possible to write it
in the form g4 ðu1  u2 Þ ¼ kðu1  u2 Þ; k 2 Rþ , with-
out loss of generality. Hence, f4 ðm2 ; x1 ; u1  u2 Þ ¼
k x2 
m2 x2
ðu1  u2 Þ, and defining x2r ¼ x22 , where x22 ¼mk2 Þ
ð9Þ 1 1
which implies that f4 ðm2 ; x1 ; u1  u2 Þ ¼ x2r ðu1  u2 Þ.
Furthermore, since mr f4 ðÞ  A cosðXsÞ 6¼ 0. To
proceed, consider the equation
mr f4 ðm2 ; x1 ; /ðsÞ  wðsÞÞ  A cosðXsÞ
ð14Þ
¼  cosðXs þ uÞ;  6¼ 0; u 6¼ 0
h Using Lemma 1, it follows that
1
f4 ðm2 ; x1 ; /ðsÞ  wðsÞÞ ¼ ðB cos ðXsÞ  C sin ðXsÞÞ
mr
ð15Þ
with B ¼ A þ  cosðuÞ and C ¼  sinðuÞ.
Next, substituting the Eq. (15) into the second
equation of the system (7) yields
1
u€2 ¼ ðB cosðXsÞ  C sinðXsÞÞ ð16Þ
mr
thus, the solution of Eq. (16) is:
B C
wðsÞ ¼ as þ b  2
cosðXsÞ þ sinðXsÞ
mr X2
ð17Þ
with a; b 2 R, B ¼ A þ  cosðuÞ and C ¼  sinðuÞ.
Since f4 ðm2 ; x1 ; /ðsÞ  wðsÞÞ ¼ x2r ð/ðsÞ  wðsÞÞ
and using the Eq. (15), it follows that,
Meccanica (2021) 56:255–273 259

1 Proof Suppose, ad absurdum, that

/ðsÞ  wðsÞ ¼ f4 ðm2 ; x1 ; /ðsÞ  wðsÞÞ
x2r mr f4 ðÞ  A cosðXsÞ ¼ 0, such that j/ðsÞj  M1 ,
jwðsÞj  M2 and xr 6¼ X. Thus,
1
¼ ðB cosðXsÞ  C sinðXsÞÞ
x2r mr mr f4 ðm2 ; x1 ; /ðsÞ  wðsÞÞ  A cosðXsÞ ¼ 0 ð23Þ
ð18Þ hence
1
Let /ðsÞ ¼ x2r mr f4 ðm2 ; x1 ; /ðsÞ  wðsÞÞ þ wðsÞ, then A
f4 ðm2 ; x1 ; /ðsÞ  wðsÞÞ ¼ cosðXsÞ ð24Þ
  mr
1 1 1
/ðsÞ ¼ as þ b þ ðB cosðXsÞ  C sinðXsÞ 2  2
mr xr X Substituting Eq. (24) into the second equation of the
ð19Þ system (7), we obtain

Since, by the hypothesis, xr ¼ X, the Eq. (19) A

u€2 ¼ cosðXsÞ ð25Þ
becomes, mr

/ðsÞ ¼ as þ b ð20Þ and the corresponding solution is

Obviously, a ¼ 0, because j/ðsÞj  M1 and therefore A

wðsÞ ¼ as þ b  cosðxr sÞ; a; b 2 R ð26Þ
mr
/ðsÞ ¼ b; b 2 R: ð21Þ
If /ðsÞ ¼ x12 f4 ðm2 ; x1 ; /ðsÞ  wðsÞÞ þ wðsÞ, then
r
Using the fact that u1 ¼ /ðsÞ is the solution of the  
Eq. 7, then it follows from Eq. (21) that /ðsÞ A 1 1
/ðsÞ ¼ as þ b þ cosðXsÞ 2  2 ð27Þ
converges to a point, which is obviously true for b ¼ mr xr X
pS (stable hyperbolic equilibrium point). This contra-
Obviously, a ¼ 0, because j/ðsÞj  M1 and
dicts the Proposition 1, and hence, the assumption that
 
f4 ðÞ  A cosðXsÞ 6¼ 0, is not true. Hence A 1 1
f4 ðÞ  A cosðXsÞ ¼ 0. h /ðsÞ ¼ b þ cosðXsÞ 2  2 ð28Þ
mr xr X
Thus, Theorem 1 ensures that if xr ¼ X, then the Here xr 6¼ X, then /ðsÞ does not converge to the
solution of the primary system (Eq. 7), namely equilibrium point, and this contradicts the hypothesis
u1 ¼ /ðsÞ, converges to stable hyperbolic equilibrium that mr f4 ðÞ  A cosðXsÞ ¼ 0. Therefore, this shows
point of the Eq. 5, namely, u1 ¼ /ðsÞ ¼ pS , indepen- that if xr 6¼ X then mr f4 ðÞ  A cosðXsÞ 6¼ 0. h
dent of the parameters of the system. In other words,
when xr ¼ X the force generated by the undamped Summarizing, in a nonlinear oscillator with har-
LVA cancel the harmonic excitation term. Therefore, monic excitation where an undamped LVA was
if xr ¼ X then the solutions of the system are: attached, if xr ¼ X, then the response of the primary
system will converge to a stable hyperbolic equilib-
B rium point of the corresponding oscillator without
/ðsÞ ¼ pS ; wðsÞ ¼ pS  cosðxr sÞ
mr X2 excitation (Theorem 1). On the other hand, if xr 6¼ X,
ð22Þ
C then it is possible to ensure that the response of the
þ sinðxr sÞ
mr X2 primary system does not converge to the equilibrium
point (Theorem 2).
The next theorem describes results for the case where
In order to finish this section two nonlinear
xr 6¼ X.
oscillators, that satisfy the conditions of the Theo-
Theorem 2 Suppose that the assumptions made in rem 1 are analyzed. The first example shows a
Proposition 1 hold. Suppose that u1 ¼ /ðsÞ and u2 ¼ oscillator where f1 is a nonlinear function, and in the
wðsÞ are solutions of Eq. (7) with j/ðsÞj  M1 and second one, f1 is linear. In both cases, the f2 is a
jwðsÞj  M2 for M1 ; M2 [ 0 and 8s. If xr 6¼ X, then nonlinear function.
mr f4 ðÞ  A cosðXsÞ 6¼ 0.

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260 Meccanica (2021) 56:255–273

Example 1 Assuming that g1 ðy01 Þ ¼ c1 y01 þ c2 y02 1,
3 solution of the primary system with an undamped
c1 [ 0 and c2 [ 0, g2 ðy1 Þ ¼ k1 y1 þ k3 y1 , k1 [ 0 and
k3 [ 0 are the nonlinear damping and stiffness of the
primary system respectively, and an undamped LVA
(g3 ðÞ ¼ 0), and with the linear stiffness given by
g4 ðy1  y2 Þ ¼ kðy1  y2 Þ; k [ 0. The equation of
motion of the primary system without LVA (see
Eq. 1) is
m1 y001 þ c1 y01 þ c2 y02 3
1 þ k1 y1 þ k3 y1 ¼ F cosðxtÞ
and the equations of motion of the primary system
with an undamped LVA is given by (see Eq. 6)
m1 y001
þ c1 y01
þ c2 y02
1 þ k1 y1 þ k3 y31 þ kðy1  y2 Þ
¼ F cosðxtÞ
m2 y002  kðy1  y2 Þ ¼ 0
Using the nondimensional parameters defined in
Eqs. 3 and 8, the nondimensional equation of the
primary system without LVA is obtained (see Eq. 2)
u€1 þ 2l1 u_1 þ l2 u_21 þ u1 þ au31 ¼ A cosðXsÞ
and the nondimensional equations of motion of the
primary system with an undamped LVA can be written
as follows (see Eq. 7)
and X ¼ 1:2. By the Theorem 1, if xr ¼ 1:2, then the
LVA converges to u1 ¼ pS ¼ 0 as s ! 1. Figure 3
shows the time history of the primary system without
LVA (black) and with an undamped LVA (red). It is
clear from Fig. 3 that the response of the primary
system ðu1 Þ converges to equilibrium point ðpS ¼ 0Þ
when the time increases. This result is expected due to
Theorem 1. Since xr ¼ X ¼ 1:2 the force generated
by the LVA cancels the external force, and therefore,
ð29Þ the response of the primary system converges to pS .
Example 2 Let g2 ðy1 Þ ¼ k1 y1 þ k3 y31 , k1 \0, and
k3 [ 0, therefore, we have a double-well potential
system, also known as Duffing system, g3 ðÞ ¼ 0,
g4 ðy1  y2 Þ ¼ kðy1  y2 Þ; k [ 0 and g1 ðy01 Þ ¼
0
c1 y1 ; c1 [ 0 is a linear damping. The equation of
ð30Þ motion of this problem is (see Eq. 1)
m1 y001 þ c1 y01  k1 y1 þ k2 y31 ¼ F cosðxtÞ ð34Þ
and the equations of motion of the primary system
with an undamped LVA is given by (see Eq. 6)
ð31Þ
m1 y001 þ c1 y01  k1 y1 þ k3 y31 þ kðy1  y2 Þ ¼ F cosðxtÞ
m2 y002  kðy1  y2 Þ ¼ 0
ð35Þ

u€1 þ 2l1 u_1 þ l2 u_21 þ u1 þ au31 þ mr w2r ðu1  u2 Þ Introducing the dimensionless time s ¼ x1 tðx21 ¼ mk11 Þ,
¼ A cosðXsÞ it is possible rewrite the Eqs. 34 (without LVA) and 35
u€2  w2r ðu1  u2 Þ ¼ 0 (with an undamped LVA in dimensionless form (see
Eqs. 2 and 7)
ð32Þ
u€1 þ 2l1 u_1  u1 þ au31 ¼ A cosðXsÞ ð36Þ
where
and
y1 y2 k1 c1
u1 ¼ ; u2 ¼ ; x21 ¼ ; l1 ¼ ;
L L m1 2m1 x1 u€1 þ 2l1 u_1  u1 þ au31 þ mr w2r ðu1  u2 Þ ¼ A cosðXsÞ
c2 L k F x
l2 ¼ ; a ¼ 3 L2 ; A ¼ ; X¼ ; u€2  w2r ðu1  u2 Þ ¼ 0
m1 k1 mx21 L x1
ð37Þ
m2 k x2
mr ¼ ; x22 ¼ ; x2r ¼ 22 where x21 ; l1 ; a; X; A; mr ; x2r are the same as Eq. 33.
m1 m2 x1
ð33Þ Suppose that A ¼ 0, in Duffing oscillator without
LVA (Eq. 36), hence, the equilibrium points are:
Suppose that A ¼ 0, in Eq. 31, then the stable hyper- (0, 0) unstable equilibrium point and two non-trivial
bolic equilibrium point of this equation is x ¼ ð0; 0Þ. stable hyperbolics equilibrium points: ðu10 ; u20 Þ ¼
To illustrate the utility of Theorem 1 through numer- ðpSþ ; 0Þ and ðu10 ; u20 Þ ¼ ðpS ; 0Þ, where pSþ ¼ p1ffiffia and
ical simulation it is assumed that the parameter values
are: 2l1 ¼ 0:01, l2 ¼ 0:1; a ¼ 1; mr ¼ 0:05; A ¼ 10; pS ¼  p1ffiffi.
a

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Meccanica (2021) 56:255–273
(a)
Fig. 3 a Time history for A ¼ 10 and xr ¼ X ¼ 1:2, b Zoom of (a)
Once again numerical simulations will be done
using the hypotheses of Theorem 1, it will be fixed the
parameters a ¼ 1; l1 ¼ 0:125 and A ¼ 1:7. Figure 4
shows the time history of the primary system without
LVA (black) and with an undamped LVA (red). It can
be seen from Fig. 4 that the response of the primary
system ðu1 Þ converges to u1 ¼ pS (stable equilibrium
point ). When X ¼ xr ¼ 0:8 the response of the
primary system converges to equilibrium point u1 ¼
pSþ ¼ 1 (see Fig. 4a, b). On the other hand, when X ¼
xr ¼ 0:9 the response converges to the other equilib-
rium point u1 ¼ pS ¼ 1 (see Fig. 4c, d).
These two examples showed numerically the effi-
ciency of the LVA in driving the chaotic behavior of a
nonlinear oscillator to a stable equilibrium point when
xr ¼ X. The next section gives a more detailed
description of the chaos suppression of the Duffing
oscillator using the LVA and assuming xr  X.
4 Chaos suppression
The nonlinear Duffing oscillator with twin-well is one
of the most famous nonlinear differential equations in
nonlinear literature. This kind of oscillator can exhibit
two distinct types of oscillations, namely (I) Small
orbits, where the response remains within the poten-
tial-well centered at a stable equilibrium point (in-
261
(b)
well) and (II) large orbits, where the response
surrounds the three equilibrium points (cross-well).
For numerical study, the nonlinear Duffing oscil-
lator given by Eq. 36 (dimensionless form) will be
used. For control the chaotic behavior of the Duffing
oscillator is added an undamped LVA and, hence, the
nondimensional equations of motion of the Duffing
oscillator with an undamped LVA is given by Eq. 37.
Here, is used the following parameters: a ¼ 1; l1 ¼
0:125; mr ¼ 0:05 and the same initial conditions:
u1 ð0Þ ¼ 0; u_1 ð0Þ ¼ 0 (Eq. 36) and u1 ð0Þ ¼ 0; u_1 ð0Þ ¼
0; u2 ð0Þ ¼ 0; u_2 ð0Þ ¼ 0 (Eq. 37).
Figure 5 shows the bifurcation diagram and Lya-
punov exponents in terms of the displacement of the
primary system u1 without LVA versus the control
parameter X (frequency excitation). The bifurcation
diagram shows the projection of the attractors in the
Poincaré section onto the u1 state. The bifurcation
diagram when A ¼ 0:3 is depicted in Fig. 5a. In order
to characterize the behavior observed in Fig. 5a, the
maximal Lyapunov exponents, was calculated, as
shown in Fig. 5b, using the algorithm described in
[19]. As can be seen, chaotic motions occur for many
values of X between 0.9625 and 1.254, and for other
values of X the response of the oscillator is periodic.
Figure 6 depicts the comparison of the bifurcation
diagram of the Duffing oscillator without LVA (black)
and the Duffing oscillator with an undamped LVA
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262
(a)
(c)
Fig. 4 a Time history for X ¼ 0:8, b Zoom of (a), c Time history for X ¼ 0:9, and d Zoom of (c)
(red) ranging the excitation frequency X from 0.1 to 2.
The bifurcation diagrams shown in Fig. 6a, b were
calculated for A ¼ 0:3 and A ¼ 0:8 respectively. In
both cases is possible to observe periodic and chaotic
responses. First, xr ¼ 1 and A ¼ 0:3, are considered.
The chaotic responses around X ¼ 1 are replaced by
periodic ones (see Fig. 6a in red). When xr  X the
periodic response remaining oscillating within the
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Meccanica (2021) 56:255–273
(b)
(d)
potential-well centered at a stable equilibrium point
(pSþ or pS ) of the free oscillations for the nonlinear
double-well Duffing oscillator. The same behavior
was observed when xr ¼ 1:8 when A ¼ 0:8 (see
Fig. 6b). As before the response of the Duffing
oscillator undergoes from chaos to periodic motion
when xr  X.
Meccanica (2021) 56:255–273
Fig. 5 a Bifurcation diagram and b maximal Lyapunov exponent
Fig. 6 Bifurcation diagram for a A ¼ 0:3 and b A ¼ 0:8. (Color figure online)
Figure 7 shows the comparisons between the
Duffing oscillator with and without LVA for
A ¼ 0:3. Chaotic behaviors of the Duffing oscillator
without LVA are shown in Fig. 7a, c for X ¼ 0:99 and
X ¼ 1:05, respectively. Fig. 7b, d show the chaos
suppression when LVA was attached to the Duffing
oscillator at xr ¼ 1. Under these conditions, the
periodic motion is observed around the equilibrium
263
point pSþ ¼ 1 for X ¼ 0:99. On the other hand, when
X ¼ 1:05 the periodic motion of the Duffing oscillator
with an undamped LVA remains oscillating around
the equilibrium point pS ¼ 1.
As discussed in Theorem 2, if xr  X, then the
response of the primary system does not converge to
some equilibrium point, however, after observing the
Figs. 6 and 7 and several other simulations performed,
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264
(a)
(c)
Fig. 7 Phase portrait for A ¼ 0:3: a–c primary system without LVA and b–d primary system with an undamped LVA
it can conclude that if xr  X , then the primary
system show a typical regular motion centered in the
equilibrium point pS or close to it. This follows from
the fact that the force arising from LVA can mitigate
the external force. By Theorem 1, when xr ¼ X the
primary system responses converge to the stable equi-
librium point of the free response of the oscillator, and
when xr  X the LVA force combined with the
external excitation generates a disturbance of this
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Meccanica (2021) 56:255–273
(b)
(d)
equilibrium point then a limit cycle appears, instead of
the original equilibrium point.
Parameter space for X versus A using a grid of 800
 800 cells is depict in Fig. 8. Periodic solutions are
plotted in blue and cyan scale ranges, quasi-periodic in
green, and chaotic in yellow and red colors, corre-
sponding to the range of maximal Lyapunov expo-
nents values. Figure 8a shows the parameter space for
the Duffing oscillator without LVA. As can be seen,
Meccanica (2021) 56:255–273
(a)
(c)
Fig. 8 Parameter space for the Duffing oscillator: a without LVA, b with an undamped LVA and xr ¼ 1:0 and c with an undamped
LVA and xr ¼ 1:2
chaotic and periodic solutions are obtained. Parameter
spaces for the Duffing oscillator with an undamped
LVA are shown in Fig. 8b, c for the values of xr ¼ 1:0
and xr ¼ 1:2, respectively. As observed before if
xr  X, then the responses of the primary system are
periodic (in both cases) independent of the excitation
amplitude.
As may be seen from Theorem 2 if xr 6¼ X, then
mr f3 ðÞ  A cosðXsÞ 6¼ 0. Based on Figs. 6, 7 and 8 it
can be conjectured that for xr  X the responses of
the primary system are periodic, i.e., the response of
265
(b)
the oscillator will be oscillating around a stable hyper-
bolic equilibrium point of the primary system without
LVA.
4.1 Influence of the initial condition
In order to emphasize the efficiency of the LVA in
suppressing the chaotic motions of a nonlinear Duffing
system, the influence of the initial conditions of the
system is also considered. Once again the bifurcation
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266 Meccanica (2021) 56:255–273

diagram and parameter space are constructed. These Eqs. (36)–(37) are numerically solved discarding the
figures will be obtained using the following steps: first 500 transient Poincaré sections, and the next 150
points are saved. Then, X is increased by a small value,
1. Given a set of initial conditions solve the Eqs. (36)
where the last Poincaré point is used as the initial
or (37), until s ¼ T, eliminating the transient
condition, and solve again the Eqs. (36)–(37) until
values.
X ¼ 2. The bifurcation diagram for the primary
2. Find the dots in the Poincaré maps (for construct-
system without LVA, shown in Fig. 9a, is compared
ing the bifurcation diagram) and the maximal
with the one shown in Fig. 9b, which demonstrates the
Lyapunov exponent (parameter space) using the
response of the primary system with an undamped
algorithm by [19].
LVA. The chaotic behavior is observed for as depicted
3. Numerically integrate the Eqs. (36)–(37) until
in Fig. 9a. However, for the primary system with an
s ¼ TMAX , where TMAX is enough to ensure the
undamped LVA for X  1 the chaotic response
convergence of the desired measure, then increase
becomes periodic showing the effect of LVA action
the value of the control parameter by a small value
(see Fig. 9b).
d and use the last values of the integrated
The parameter space ðX  AÞ shown in Fig. 10 is
trajectory as new initial conditions of Eqs. (36)
constructed for the primary system without LVA
or (37), allowing following the same attractor
(Fig. 10a) and with an undamped LVA (Fig. 10b).
across the bifurcation diagram or parameter space.
Figure 10a shows several periodic and chaotic
Repeat step 2.
responses of the primary system. However, attached
4. In the parameter space case, when making the last
the LVA in the primary system and tuning the value of
numerical integration of one control parameters,
xr ¼ 1, a path of periodic solutions is observed when
start over the value of this parameter, and then
X  1. Once again, the numerical results show that the
increase the other control parameter by a small
LVA is effective to suppress the chaotic behavior of
amount , and repeat from step 1.
the Duffing oscillator when xr  X.
The basins of attraction for xr ¼ 1 and X ¼ 0:99
The bifurcation diagram is construct using the fixed
and X ¼ 1:05 are shown in Fig. 11a, b, respectively.
parameters a ¼ 1, l1 ¼ 0:125; mr ¼ 0:05; A ¼
The only attractors found here are periodic. In black
0:3; xr ¼ 1 and choosing X as the control parameter.
are shown the initial conditions that converge to the
Taking X ¼ 0:1 and a set of null initial conditions, the

Fig. 9 Bifurcation diagram for the primary system: a without LVA and b with an undamped LVA and xr ¼ 1

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Meccanica (2021) 56:255–273 267

Fig. 10 Parameter space for the Duffing oscillator: a without LVA, b with an undamped LVA and xr ¼ 1:0

Fig. 11 Basins of attraction for primary system with an undamped LVA for: a X ¼ 0:99 and b X ¼ 1:05

attractors that oscillate in-well, with the center in
pSþ ¼ 1, on the other hand, in white are the initial
condition that converges to the attractors oscillate in-
well, with the center in pS ¼ 1. Moreover, it can be
seen, that the presence of the LVA eliminates chaotic
responses, making with all solutions will be attracted
the basin of attraction will be shown with only one
color.
4.2 Influence of the mass of the absorber
The influence of the mass ratio parameter mr ¼ m m1 on
2

to periodic attractors. Here, the response of the the behavior of the Duffing oscillator is investigated.
primary system without LVA is not presented, because Assuming that the mass of the primary system (m1 ) is
of all the attractors found were chaotic, and therefore, constant and the mass of the absorber (m2 ) changes so

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268
Fig. 12 Bifurcation Diagram for a mr ¼ 0:01, b mr ¼ 0:05, c mr ¼ 0:07 and d mr ¼ 0:1
that the mass ratio range between 1% and 10%.
Figure 12 shows the comparison of the Duffing
oscillator with LVA taking xr ¼ 1, the bifurcation
diagrams are shown for mr ¼ 0:01; mr ¼ 0:05; mr ¼
0:07 and mr ¼ 0:1. The responses of these four
diagrams are practically identical but close to X ¼ 1
the area of periodic responses increases as the mass
ratio grows. Therefore, the study of the influence of the
mass ratio reveals that the greater the LVA mass, the
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Meccanica (2021) 56:255–273
greater will be its influence on the external force, thus,
increasing the periodic window for X  1
The two-dimensional parameter space (X  A)
obtained for the Duffing oscillator with an undamped
LVA considering xr ¼ 1, and for three mass ratios,
mr ¼ 0:04, mr ¼ 0:07 and mr ¼ 0:1 is depicted in
Fig. 13. Comparison of these parameter spaces with
the one shown in Fig. 8b (mr ¼ 0:05) reveals that for
mr ¼ 0:04 the range of periodic responses around X ¼
1 is smaller, but, when we use mr ¼ 0:07 and mr ¼ 0:1
Meccanica (2021) 56:255–273
Fig. 13 Parameter space for the Duffing oscillator with an undamped LVA: a mr ¼ 0:04, b mr ¼ 0:07 and c mr ¼ 0:1
these periodic response range has a considerable
increase.
The mass ratio affects the response of the oscillator
because its increase leads to a greater capacity to
remove vibratory energy from the primary structure.
Obviously, there is an interest in designing an LVA
with the lowest possible mass. However, the opera-
tional region of the LVA that suppresses the chaotic
motion is generally narrow, tending to decrease with
the reduction of the mass ratio, as shown in Fig. 13.
Thus the study of the mass ratio influence on the
Duffing oscillator reveals a beneficial influence for
269
larger mass ratios. Not only they increase the periodic
response in size when X  xr (see Fig. 13), but they
also avoid the jump between periodic solutions that
happens for low values of mr (see Fig. 12).
4.3 Effects of the damped LVA on the primary
system
Until now, theoretical and numerical studies of the
undamped LVA shown that it is very effective to
suppress the chaotic behavior of the primary system.
From now on it will be taken into account the influence
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270
of the damped LVA in the response of the primary
system, that is, the function g3 ðÞ is no longer zero in
Eq. 7.
A linear viscous damper is considered, thus
g3 ðy01  y02 Þ ¼ c2 ðy01  y02 Þ, where c2 is the viscous
coefficient. Therefore, the equations of motion of the
twin-well Duffing oscillator with a damped LVA is
given by
m1 y001 þ c1 y01  k1 y1 þ k3 y31 þ c2 ðy01  y02 Þ þ kðy1  y2 Þ ¼ F cosðxtÞ
m2 y002  c2 ðy01  y02 Þ  kðy1  y2 Þ ¼ 0
Hence, the dimensionless equation of motion has the
form:
u€1 þ 2l1 u_1  u1 þ au31 þ 2l2 mr wr ðu_1  u_2 Þ
þmr w2r ðu1  u2 Þ ¼ A cosðXsÞu€2
2l2 mr wr ðu_1  u_2 Þ  w2r ðu1  u2 Þ ¼ 0
where x21 ; l1 ; a; X; A; mr ; x2r are the same as Eq. 33
and l2 ¼ mc2 2w2 .
In order to visualize the behavior of the primary
system with a damped LVA in Fig. 14a–d is shown the
parameter space of the system taking into account the
amplitude (A) versus the frequency ðXÞ of excitation.
The value of the parameters adopted are: l1 ¼ 0:125,
a ¼ 1, mr ¼ 0:05; wr ¼ 1 and l2 is a light damping,
namely, the damping ratio l2 is 5% of l1 (Fig. 14a), l2
is 10% of l1 (Fig. 14b), l2 is 15% of l1 (Fig. 14c) and
l2 is 20% of l1 (Fig. 14d). These figures can be
compared with each other, and with Fig. 8b also,
which is the response of the primary system with an
undamped LVA. From Fig. 14 one can see that the
chaotic behavior can be suppressed, but now the
condition xr  X alone is not sufficient to ensure this
suppression, it is necessary to consider the value of the
excitation amplitude as well. Analyzing the result
obtained in Fig. 14a it is possible to see that the
response is similar to that obtained with an undamped
LVA with an advantage of having suppressed the
chaotic response of the primary system for values of
low amplitudes (A\0:16) and X  1. On the other
hand, increasing the values of l2 is possible to note
that for larger values of A the damped LVA cannot
suppress the chaotic behavior of the primary system,
namely, if l2 ¼ 0:1l1 , the damped LVA is effective
for A\0:8, for l2 ¼ 0:15l1 the effectiveness is for
A\0:6, and if l2 ¼ 0:15l1 then A\0:5. However, the
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Meccanica (2021) 56:255–273
higher the value of l2 , the higher is the effectiveness of
the damped LVA to suppress chaos for low values of A
and X  1. It is worth remembering here that if l2 ¼ 0
and xr ¼ X then Theorem 1 asserts that the LVA’s
force cancels the external excitation force, and if xr 
X then the LVA’s force can attenuate the effects of the
excitation force demonstrating that the response of the
primary system is periodic. It is clear here that the
behavior of the primary structure when xr ¼ X is
dependent on the forcing amplitude, and the
undamped LVA will become ineffective to suppress
ð38Þ the chaos of the primary nonlinear structure when the
excitation magnitude is above the certain values (see
Fig. 14). This is due to the fact that when l2 6¼ 0 an
additional force is introduced into the system, and this
force disrupts the equilibrium that occurred previously
which makes that the LVA loses its effectiveness in
ð39Þ
suppressing the chaotic behavior of the primary
system.
In order to illustrate the issues previously discussed,
some bifurcation diagrams were made for the primary
system under varying excitation frequency (X) (see
Fig. 15), and the parameters l1 : a; mr ; wr are the
same used before. At A ¼ 0:14 (low amplitude),
Fig. 15a shows the response of the primary system
with an undamped LVA (in black) and a damped LVA
for l2 ¼ 0:05l1 (in red). Here the responses are very
similar for X 2 ½0:974; 1:05 in both systems. How-
ever, for X 2 ð0:957; 0:974Þ the behaviour of the
system with an undamped LVA (chaos) and with a
damped LVA (periodic) are different. For A ¼ 0:17
(low amplitude), l2 ¼ 0:05(red) and l2 ¼ 0:10l1
(blue), Fig. 15b illustrates that the performance of
the damped LVA with l2 ¼ 0:10l1 is superior to that
of the damped LVA with l2 ¼ 0:05l1 . On the other
hand, the larger the value of l2 the more difficult it will
be for the response of the primary system become
periodic (see Fig. 15c for A ¼ 0:9 and Fig. 15d for
A ¼ 0:7), where gray color corresponds to
l2 ¼ 0:15l1 . Therefore, it is possible to say that when
an undamped LVA is attached to the primary system
and xr  X, this becomes the tuning condition to
suppress the chaotic response of the primary system.
However, if a light damped LVA is considered a slight
detuning should occur, but this detuning will be
detrimental to absorber performance depends on the
amplitude parameter of the excitation.
Meccanica (2021) 56:255–273
Fig. 14 Parameter space of primary system with a damped LVA: a l2 ¼ 0:05l1 , b l2 ¼ 0:10l1 , c l2 ¼ 0:15l1 and d l2 ¼ 0:2l1
5 Conclusion
This paper proposed a linear vibration absorber (LVA)
to suppress the chaotic motion of any oscillator with
nonlinear stiffness and linear or nonlinear damping
element. Theorem 1 proposed provides conditions for
characterizing the LVA in order to be used to suppress
the chaotic behavior of a general nonlinear oscillator,
driving it to converge to a stable hyperbolic equilib-
rium point. Theorem 2 provides that if xr 6¼ X then
the force generated by the LVA is not able to cancel
the excitation force but based on the numerical results
271
obtained here the LVA force modifies the external
excitation, hence, the response of the oscillator stays
oscillating around a stable hyperbolic equilibrium
point of the primary system without LVA. Moreover,
numerical simulations of the Duffing oscillator with
twin-well confirm numerically the statement of The-
orem 1, that is, when xr ¼ X, the chaotic response of
the oscillator converges to a stable hyperbolic equi-
librium point. On the other hand, when xr  X the
chaotic response becomes periodic, independent of the
initial conditions, the amplitude of external force, or
the mass of the LVA.
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272
Fig. 15 Bifurcation diagram: a A ¼ 0:14, b A ¼ 0:17, c A ¼ 0:9 and d A ¼ 0:7
The mass ratio affects the response of the oscillator
because its increase leads to a greater capacity to
remove vibratory energy from the primary structure.
Obviously, there is an interest in designing an LVA
with the lowest possible mass. Meanwhile, the region
of operation of the LVA that suppresses the chaotic
motion is generally narrow, tending to decrease with
the reduction of the mass ratio, as shown in Fig. 13.
When a light damped LVA is considered a slight
detuning should occur, but this detuning will be
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Meccanica (2021) 56:255–273
detrimental to absorber performance depends on the
amplitude parameter of the excitation.
The central idea of this manuscript is to develop an
efficient method of chaos control in a passive way. As
it is possible to observe in Figs. 8, 10 and 13 the
responses of the system have changed when LVA is
added, that is, regions in the parameter space can be
changed from periodic to chaotic. However, the LVA
works efficiently at predetermined design frequencies,
as shown in these same figures, where chaotic
Meccanica (2021) 56:255–273
behaviors in the region where ðxr ¼ XÞ are trans-
formed now in periodic motions in 100% of the cases,
therefore, this is the contribution of the LVA. Thus,
the LVA should be used only to suppress the chaos in
predetermined frequencies.
One can also highlight some advantages and
disadvantages of using the LVA; advantages: the
undamped LVA can be applied independent of the
amplitude of the external force, the LVA is easily
added in a primary system without major changes in
the system, the LVA is useful in mechanical systems
where feedback controllers are often very large and the
LVA allow access to different periodic orbits,
although this technique has limitations with respect
to active control, it can also be a very versatile
alternative; in addition, this technique has the advan-
tage of not needing any form of external energy,
guaranteeing the stability of the system and disadvan-
tages: when the LVA is applied occur a substantial
change of the overall system dynamics (see Figs. 8
and 10, for example).
Compliance with ethical standards
Conflict of interest The author declares that I have no conflict
of interest.
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