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Nonlinear Dyn (2008) 51:171181 DOI 10.

1007/s11071-007-9200-y

ORIGINAL ARTICLE

Dynamical properties and chaos synchronization of a new chaotic complex nonlinear system
Gamal M. Mahmoud Shaban A. Aly M. A. AL-Kashif

Received: 12 April 2006 / Accepted: 19 October 2006 / Published online: 24 January 2007 C Springer Science + Business Media B.V. 2007

Abstract In this paper, we introduce a new chaotic complex nonlinear system and study its dynamical properties including invariance, dissipativity, equilibria and their stability, Lyapunov exponents, chaotic behavior, chaotic attractors, as well as necessary conditions for this system to generate chaos. Our system displays 2 and 4-scroll chaotic attractors for certain values of its parameters. Chaos synchronization of these attractors is studied via active control and explicit expressions are derived for the control functions which are used to achieve chaos synchronization. These expressions are tested numerically and excellent agreement is found. A Lyapunov function is derived to prove that the error system is asymptotically stable. Keywords 2 and 4-scroll . Chaotic attractor . Chaos . Synchronization . Active control . Error system . Complex variables . Dissipative dynamics . Equilibria and stability

1 Introduction Dynamical properties and chaos synchronization of deterministic nonlinear systems have been intensively studied over the last two decades on a large number of real dynamical systems of physical nature (i.e. those that involve real variables). However, there are also many interesting cases involving complex variables which have not been as actively explored. As an example we mention here the complex Lorenz equations which are used to describe and simulate the physics of a detuned laser and thermal convection of liquid ows [13]. The electric eld amplitude and the atomic polarization amplitude are both complex, for details see, e.g. [2] and references therein. Complex Chen and L u chaotic systems have also been introduced and studied recently in [4]. In 2002, Liu and Chen [5] introduced a new real chaotic nonlinear system of the form: = a1 x + b1 yz , x = a 2 y + b2 x z , y (1.1) = a 3 z + b3 x y , z where ai and bi , i = 1, 2, 3, are real constants and an electronic circuit was designed to realize the system (1.1) (for more details see [5]). This system generates chaotic behavior and displays 2 and 4- scroll chaotic attractors [6]. System (1.1) with a1 = a , a2 = b, a3 = c, b1 = 1, b2 = b3 = 1 (a , b, c > 0) bridges the
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G. M. Mahmoud ( ) M. A. AL-Kashif Department of Mathematics, Faculty of Science, Assiut University, Assiut 71516, Egypt e-mail: gmmahmoud@yahoo.com, gmahmoud@aun.edu.eg S. A. Aly Department of Mathematics, Faculty of Science, AL-Azhar University, Assiut 71516, Egypt.

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gap between Lorenz and Chen attractors [7]. It also describes the problem of rigid body motion (e.g. satellites, spacecraft and rockets) for the case a1 = a , a2 = b, a3 = c, b1 = 1, b2 = 1, b3 = 1 [8]. 3 In recent years, dynamical behavior and chaos synchronization of certain special cases of (1.1) have been studied, see, e.g. [912]. Several methods have been introduced and applied to study chaos synchronization of chaotic nonlinear systems. These methods have been reviewed in our recent paper [13]. In this paper we wish to study the dynamical properties and the phenomenon of chaos synchronization of a new chaotic complex nonlinear system expressed by: = a1 x + b1 yz , x = a 2 y + b2 x z , y = a3 z + z b3 y + xy ), (x 2 (1.2)

reads: 1 = a1 u 1 + b1 u 3 u 5 , u 2 = a1 u 2 + b1 u 4 u 5 , u 3 = a2 u 3 + b2 u 1 u 5 , u 4 = a2 u 4 + b2 u 2 u 5 , u 5 = a3 u 5 + b3 (u 1 u 3 + u 2 u 4 ). u System (2.1) has the following properties: (1) Symmetry: (i) Symmetry about the u 5 -axis, due to invariance of the equations under the transformation (u 1 , u 2 , u 3 , u 4 , u 5 ) (u 1 , u 2 , u 3 , u 4 , u 5 ). (ii) Symmetry about the u 1 , u 2 -axes (or u 3 , u 4 axes), since (u 1 , u 2 , u 3 , u 4 , u 5 ) (u 1 , u 2 , u 3 , u 4 , u 5 ) {or (u 1 , u 2 , u 3 , u 4 , u 5 ) (u 1 , u 2 , u 3 , u 4 , u 5 )} do not change the equations of motion. (2) Dissipation: The divergence of (2.1) is:
5

(2.1)

where x = u 1 + iu 2 , y = u 3 + iu 4 are complex variables, i = 1 and z = u 5 is a real variable. Dots represent derivatives with respect to time and the overbar ) denotes the complex conjugate of u . (u This paper is organized as follows: In Section 2, the dynamical properties of system (1.2) including invariance, dissipativity, equilibria and their stability, Lyapunov exponents, chaotic behavior and chaotic attractors are discussed and necessary conditions for system (1.2) to generate chaos are obtained. Section 3 contains the study of chaos synchronization of (1.2) for some values of the ai and bi using the method of active control [1416]. In this section, also, we calculate expressions for the control functions which are used to achieve chaos synchronization. These expressions are tested numerically and excellent agreement is found. A Lyapunov function is derived to prove that the error system is asymptotically stable. Some gures are presented to show pictorially the effect of chaos synchronization and the rapid decay of errors in time. Our concluding remarks are presented in Section 4.

.F =
i =1

i u = 2a1 + 2a2 + a3 . ui

(2.2)

As long as 2a1 + 2a2 + a3 < 0, (2.3)

our system (2.1) (or (1.2)) is dissipative. (3) Equilibria and their stability: The equilibria of (2.1) i = can be calculated by solving the equations u 0, i = 1, 2, . . . , 5. We thus nd ve equilibria E 0 = (0, 0, 0, 0, 0), E 1,2 = (u 1 , u 2 , u 3 , u 4 , u 5 ), E 3,4 = (u 1 , u 2 , u 3 , u 4 , u 5 ), for the case u 1 = u 2 and u 3 = u 4 where
u 1 = u2 = u 3 = u4 =

a2 a3 , 2b2 b3 a1 a3 2b1 b3 and u 5 = a1 a2 . b1 b2

2 Dynamical properties of system (1.2) In this section we present the basic dynamical analysis of our new system (1.2). The real version of (1.2)
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Nontrivial equilibria exist if a2 a3 > 0, 2b2 b3 a1 a3 >0 2b1 b3 and a1 a2 > 0. (2.4) b1 b2

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The eigenvalues of the corresponding linearized system at E 0 are: 1 = 2 = a1 , 3 = 4 = a 2 and 5 = a3 .

where L i j = 0 Li j = b 2 u 5 0 b3 u 3 a1

hi u j

is the Jacobian matrix: 0 a1 0 b2 u 5 b3 u 4 b1 u 5 0 a2 0 b3 u 1 0 b1 u 5 0 a2 b3 u 2 b1 u 3 b1 u 4 b2 u 1 . b2 u 2 a3

The equilibrium E 0 is stable if a1 < 0, a2 < 0 and a3 < 0, (2.5)

otherwise it becomes unstable. While the eigenvalues at E i (i = 1, . . . , 4) are: 1 = 2 = 3 = 0 and 4,5 = 1 c1 2


2 c1 4c2 ,

The Lyapunov exponents i of the system is dened by [17]: i = lim 1 log t t u i (t ) . u i (0) (2.9)

(2.6)

with c1 = 2a1 + 2a2 + a3 and c2 = (a1 + a2 )(a1 + a2 + a3 ). The necessary conditions for system (1.2) to generate chaos are that (2.3), (2.4) hold and E 0 is an unstable equilibrium point. To satisfy these conditions, there are many choices of parameters ai and bi (i = 1, 2, 3)., one of which is a1 = a > 0, a2 = b < 0 and a3 = c < 0 (a , b, c > 0) (one or two of a1 , a2 , a3 must be positive and the other negative), b1 = 1 < 0, b2 = 2 > 0 and b3 = 3 > 0 (1 , 2 , 3 > 0)(one or two of b1 , b2 , b3 must be positive and the other negative). The above xed points are special case from the xed points of (2.1) which are (0, 0, 0, 0, 0), (u 1 ,
a2 a3 2 u 1 , b2 b3 a 1 b2 u , a 2 b1 1 a2 a3 2 u 1 , b2 b3 a 1 b2 a 2 b1 a2 a3 2 u 1 , b2 b3 a1 b2 a2 b1 a1 a2 )and (u 1 , b1 b2 a2 a3 b2 b3 a1 b2 u , a2 b1 1

To nd i , we numerically solve Equations (2.7) and (2.8) simultaneously by a simple Runge- Kutta method of order 4. Thus, for the case a = 9.5, b = 19, c = 3, b1 = 1, b2 = b3 = 1 we nd that the Lyapunov exponents have the values: 1 = 3.498349, 2 = 3 = 0, 4 = 13.705292 and 5 = 21.531656. This means that our system (2.1) for this choice of ai and bi is chaotic since one of the Lyapunov exponents is positive. The chaotic behavior for this system can also be shown by plotting the separation of two nearby trajectories. Figure (1a) shows two computed solutions of (2.1) with initially nearby initial conditions., exhibiting sensitive dependence on the choice of initial conditions. (5) Chaotic attractors Our aim is to calculate numerically the values of the parameters of (1.2) at which chaotic attractors exist under the above conditions. (i) Fix b = 19, c = 3, b1 = 1, b2 = b3 = 1 and vary a : For small values of the parameter a , the system exhibits 2 or 4-scroll chaotic attractors. For example, for a = 0.1009, system (1.2) exhibits the 2-scroll chaotic attractor shown in Fig. (1b), while for a = 0.1008 it displays a 4-scroll chaotic attractor, as shown in Fig. (1c). For 0.99 < a < 18 system (1.2) continues to display a 2-scroll chaotic attractors, see Figs. (1d) and (1e) in (u 3 , u 4 , u 5 ) space and (u 1 , u 2 , u 5 ) space respectively. (ii) Fix a = 9.5, c = 3, b1 = 1, b2 = b3 = 1 and vary b: System (1.2) displays 2-scroll chaotic attractors for 8 < b < 100.
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a1 a2 a2 a3 2 u ), with u ). 1 , 1 (0, b1 b2 b 2 b3 4 Lyapunov exponents: System (2.1) in vector notation can be written as

(t ) = H (U (t ); ), U

(2.7)

where U (t ) = [u 1 , u 2 , . . . , u 5 ]t , H = [h 1 , h 2 , . . . , h 5 ]t , is a set of parameters and [ ]t denotes transpose. The linearized (variational) equations describing small deviations U from the trajectory U (t ) are: (t ) = L i j (U (t ); )U , U (2.8)

174 Fig. 1 (a) Two numerically computed solutions of (2.1) for a = 9.5, b = 19, c = 3, b1 = 1 and b2 = b3 = 1 with t0 = 0, u 1 (0) = 2, u 2 (0) = 1, u 3 (0) = 5, u 4 (0) = 3, u 5 (0) = 4 (the solid curve) and u 1 (0) = 2.001, u 2 (0) = 1, u 3 (0) = 5, u 4 (0) = 3, u 5 (0) = 3.99 (the dotted curve), (t =time/10). (b) 2-scroll chaotic attractor of (2.1) at a = 0.1009, b = 19, c = 3, b1 = 1 and b2 = b3 = 1 in (u 4 , u 5 ) space and the same value of initial conditions for the solid curve in (a). (c) 4-scroll chaotic attractor of (2.1) at a = 0.1008, b = 19, c = 3, b1 = 1 and b2 = b3 = 1 in (u 4 , u 5 ) space and the same value of initial conditions for the solid curve in (a). (d) 2-scroll chaotic attractor of (2.1) at a = 9.5, b = 19, c = 3, b1 = 1 and b2 = b3 = 1 in (u 1 , u 2 , u 5 ) space and the same value of initial conditions for the solid curve in (a). (e) 2-scroll chaotic attractor of (2.1) in (u 3 , u 4 , u 5 ) space for the same values of parameters and initial conditions as in (d)

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(iii) Fix a = 9.5, b = 19, b1 = 1, b2 = b3 = 1 and vary c: System (1.2) displays 2-scroll chaotic attractors for 0 < c < 16.

case becomes: = ax yz , x = by + x z , y (3.1)

3 Chaos synchronization of system (1.2) In this section we study chaos synchronization of system (1.2) at parameter values of the parameters which are necessary to generate chaos and stated in Section 2 (e.g. a1 = a , a2 = b, a3 = c, a , b, c > 0, b1 = 1, b2 = b3 = 1). Our system (1.2) with this
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1 y + xy ), = cz + (x z 2 Using the idea of active control technique as follows: We assume that we have two identical complex chaotic systems and the drive system with the subscript d is to control the response system with subscript r.

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175

Fig. 1 (Continued)

Our aim is to design a controller and make the response system follow the drive system, until they ultimately become the same. The drive and response systems for (3.1) are dened respectively as: d = axd yd z d , x d = byd + xd z d , y 1 d = cz d + (x d ), d yd + xd y z 2 (3.2)

and r = axr yr zr + (1 + i 2 ), x r = byr + xr zr + (3 + i 4 ), y 1 r = czr + (x r ) + 5 , r yr + xr y z 2 where xd = u 1d + iu 2d , yd = u 3d + iu 4d are complex state variables, z d = u 5d is real state variable,
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(3.3)

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Fig. 2 Chaos synchronization of systems (3.2) and (3.2) with (3.10) for a = 9.5, b = 19, c = 3 with t0 = 0, u 1d (0) = and 2, u 2d (0) = 1, u 3d (0) = 5, u 4d (0) = 3, u 5d (0) = 4 u 1r (0) = 2, u 2r (0) = 1, u 3r (0) = 5, u 4r (0) = 3, u 5r (0) =

4, (a) u 1d (t ) and u 1r (t ) versus t , (b) u 2d (t ) and u 2r (t ) versus t , (c) u 3d (t ) and u 3r (t ) versus t , (d) u 4d (t ) and u 4r (t ) versus t , (e) u 5d (t ) and u 5r (t ) versus t (t = time/10)

xr = u 1r + iu 2r , yr = u 3r + iu 4r and zr = u 5r , denotes the complex conjugate variable and ... v1 + i v2 , v3 + i v4 and v5 are complex and real control functions respectively, which are to be determined.
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The complex system (3.2) can be rewritten as a ve real rst order ODEs of the form: 1d = au 1d u 3d u 5d , u 2d = au 2d u 4d u 5d , u

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Fig. 3 Synchronization errors (solutions of system (3.7)) (a) (eu 1 , t ) diagram, (b) (eu 2 , t ) diagram, (c) (eu 3 , t ) diagram, (d) (eu 4 , t ) diagram, (e) (eu 5 , t ) diagram

3d = bu 3d + u 1d u 5d , u 4d = bu 4d + u 2d u 5d , u 5d = cu 5d + (u 1d u 3d + u 2d u 4d ). u In order to obtain the active control signals, we dene the error states between the response system that is to be controlled and the controlling drive system as: eu 1 + ieu 2 = xr xd = (u 1r u 1d ) + i (u 2r u 2d ) , (3.4)

eu 3 + ieu 4 = yr yd = (u 3r u 3d ) + i (u 4r u 4d ) , eu 5 = zr z d = u 5r u 5d . (3.5)

Subtracting (3.2) from (3.3) using (3.5) to get: u 1 + i e u 2 = a eu 1 + ieu 2 u 5d eu 3 + ieu 4 e eu 5 (u 3r + iu 4r ) + (1 + i 2 ),


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Fig. 4 (a) 4-scroll chaotic attractor of (2.1) at a = 0.65, b = 19, c = 3, b1 = 1 and b2 = b3 = 1 in (u 1 , u 2 , u 5 ) space and the same value of initial conditions for the solid curve in Fig. 1

(a). (b) 4-scroll chaotic attractor of (2.1) in (u 3 , u 4 , u 5 ) space for the same values of parameters and initial conditions as in (a)

u 4 = b eu 3 + ieu 4 u 5d eu 1 + ieu 2 u 3 + i e e + eu 5 (u 1r + iu 2r ) + (3 + i 4 ), u 5 = c eu 5 + u 1r eu 3 + u 2r eu 4 + u 3d eu 1 e + u 4d eu 2 + 5 . (3.6)

For positive parameters a , b and c, one can consider a Lyapunov of the following form: V (t ) = 1 2
5 i =1 2 eu . i

(3.8)

The derivative of V (t ) along the solution of system (3.8) be:


2 2 2 2 2 (t ) = a eu V + eu + eu b eu c eu 1 2 3 4 5 5

Equation (3.6) describes a dynamical system via which the errors evolve in time and nally the ODEs of this system in real form become:

+
i =1

i eu i + 2u 1r eu 3 eu 5 + 2u 2r eu 4 eu 5 (3.9)

u 1 = a eu 1 u 5d eu 3 u 3r eu 5 + 1 , e u 2 = a eu 2 u 5d eu 4 u 4r eu 5 + 2 , e u 3 = b eu 3 + u 5d eu 1 + u 1r eu 5 + 3 , e u 4 = b eu 4 + u 5d eu 2 + u 2r eu 5 + 4 , e u 5 = c eu 5 + u 1r eu 3 + u 2r eu 4 + u 3d eu 1 e + u 4d eu 2 + 5 .
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e u 1 eu 3 eu 5 e u 2 eu 4 eu 5 .

(3.7)

There are many possible choices for the active control function. If, however, if we choose the control input functions i as: 1 = a eu 1 , 2 = a eu 2 , 5 = 0,

(3.10) 3 = 2u 1r + eu 1 eu 5 , 4 = 2u 2r + eu 2 eu 5 .

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Fig. 5 Chaos synchronization of systems (3.2) and (3.2) with (3.10) for a = 0.65, b = 19, c = 3 with and the same value of initial conditions for Fig. 2, (a) u 1d (t ) and u 1r (t ) versus t , (b)

u 2d (t ) and u 2r (t ) versus t , (c) u 3d (t ) and u 3r (t ) versus t , (d) u 4d (t ) and u 4r (t ) versus t , (e) u 5d (t ) and u 5r (t ) versus t (t = time/10)

Equation (3.9) becomes:


2 2 2 (t ) = b eu V c eu + eu < 0. 3 4 5

(3.11)

Since V (t ) is a positive denite function and its derivative is negative denite, then Lyapunovs direct method

implies that the equilibrium point eu i = 0, i = 1, . . . , 5 of the system (3.7) is asymptotically stable, which means that eu i 0 as t , i = 1, . . . , 5. We apply the above technique to study the chaos synchronization of 2 and 4-scroll chaotic attractors of our system (3.1) at the values of the parameters which are stated in Section 2.
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Fig. 6 Synchronization errors (solutions of system (3.7)) (a) (eu 1 , t ) diagram, (b) (eu 2 , t ) diagram, (c) (eu 3 , t ) diagram, (d) (eu 4 , t ) diagram, (e) (eu 5 , t ) diagram

For the 2-scroll chaotic attractor, we solve systems (3.2) and (3.3) with (3.10) numerically for a = 9.5, b = 19 and c = 3 with the initial conditions t0 = 0, u 1d (0) = 2, u 2d (0) = 1, u 3d (0) = 5, u 4d (0) = 3 and u 5d (0) = 4. and u 1r (0) = 2, u 2r (0) = 1, u 3r (0) = 5, u 4r (0) = 3 and u 5r (0) = 4. (See Fig. (1a) and (1b) for this attractor). The results of chaos synchronization of 2-scroll chaotic attractor is shown
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in Fig. 2. From Fig. 2, it is clear that chaos synchronization is achieved after very small values of t (time/10). The synchronization errors for this attractors are plotted in Fig. 3 which are the solution of system (3.7). It can be seen that the synchronization errors eu i will converge to zero. To study chaos synchronization of the 4-scroll attractor case of system (3.1) we choose the parameters as

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181 2. Rauh, A., Hannibal, L., Abraham, N.: Global stability properties of the complex Lorenz model. Physica D 99, 4558 (1996) 3. Gibbon, J.D., McGuinnes, M.J.: The real and complex Lorenz equations in rotating uids and laser. Physica D 5, 108121 (1982) 4. Mahmoud, G.M., Bountis, T., Mahmoud, E.E.: Active control and globle synchronization for complex Chen and L u systems. Int. J. Bif. chaos (in press) 5. Liu, W.B., Chen, G.R.: A new chaotic system and its generation. Int. J. Bif. Chaos 13(1), 261267 (2003) 6. Sun, J.: Impulsive control of a new chaotic system. Math. Comput. Simul. 64, 669677 (2004) 7. Lu, J., Chen, G., Cheng, D., Celikovsky, S.: Bridge the gap between the Lorenz system and the Chen system. Int. J. Bif. Chaos 12(12), 29172926 (2002) 8. Chen, H.K., Lee, C.I.: Anti-control of chaos in rigid body motion. Chaos Solitons Fractals 21, 957965 (2004) 9. Elabbasy, E.M., Agiza, H.N., El-Dessoky, M.: Global synchronization criterion and adaptive synchronization for new chaotic system. Chaos Solitons Fractals 23(10), 12991309 (2005) 10. Qi, G., Chen, G., Du, S., Chen, Z., Yuan, Z.: Analysis of a new chaotic system. Physica A 352, 295308 (2005) 11. Yassen, M.T.: Controlling chaos and ynchronization for new chaotic system using linaer feedback control. Chaos Solitons Fractals 26, 913920 (2005) 12. Liu, W., Chen, G.: Can a three-dimensional smooth autonomous quadratic chaotic system generate a single fourscroll attractor? Int J. Bif. Chaos 14(4), 13951403 (2004) 13. Mahmoud, G.M., Aly, S.A., Farghaly, A.A.: On chaos synchronization of a complex two coupled dynamos system, Chaos Solitons and Fractals (in press) 14. Agiza, H.N., Yassen, M.T.: Synchronization systems of R ossler and Chen chaotic dynamical systems using active control. Phys. Lett. A 278, 191197 (2001) 15. Ucar, A., Lonngren, K.E., Bai, E.-W.: Synchronization of the unied chaotic systems via active control. Chaos Solitons Fractals 27(5), 12921297 (2006) 16. Lei, Y., Xu, W., Shen, J., Fang, T.: Global synchronization of two parametrically excited systems using active control. Chaos Solitons Fractals 28, 428436 (2006) 17. Wolf, A., Swift, J., Swinney, H., Vastano, J.: Determining Lyapunov exponents from a time series. Physica D 16, 285 317 (1985)

a = 0.65, b = 19 and c = 3 (see Section 2). We solve also systems (3.2) and (3.3) with (3.10) numerically for different initial conditions which are used in Figs. 2 and 3. Figure 4 shows the 4-scroll chaotic attractors in 3-spaces. Figures 5 and 6 present the chaos synchronization and the errors eu i (i = 1, . . . , 5) for this attractor respectively. 4 Concluding remarks In this paper, we have studied the dynamics of a new chaotic complex nonlinear system (1.2). This system has been introduced and studied with real variables in the recent literature. Our complexied version appears in many important applications in engineering, as, for example, in communications, where doubling the number of variables (by introducing complex variables) may be used to increase the content and security of the transmitted information. The basic properties of system (1.2) including invariance, dissipativity, equilibria and their stability, Lyapunov exponents, chaotic behavior and chaotic attractors are investigated and necessary conditions for system (1.2) to generate chaos are discussed. The phenomenon of chaos synchronization of 2 and 4-scroll chaotic attractors is observed via active control at one case of parameter values, which generates chaos. A Lyapunov function is derived to prove that the associated error system is asymptotically stable. The results of chaos synchronization and the exponential decay of errors are shown pictorially to agree very well with analytical predictions. References
1. Ning, C.Z., Haken, H.: Detuned lasers and the complex Lorenz equations: Subcritical and supercritical Hopf bifurcations. Phys. Rev. A 41, 38263837, (1990)

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