Professional Documents
Culture Documents
Chua Itoh 2008
Chua Itoh 2008
International Journal of Bifurcation and Chaos, Vol. 18, No. 11 (2008) 3183-3206
MEMRISTOR OSCILLATORS
MAKOT O ITOH
Dep artm ent of Information and Communication Engineering,
LEON O. CHUA
Departm ent of El ectri cal Engineering and Compu ter S cien ces,
B erkeley, CA 94120, US A
The memristor has a ttracted phenomen al worldwide attent ion since its de but on 1 May 2008
issu e of Nature in view of its many po te nt ial applications, e.g. super- dense nonv ola tile com
puter me mory and neural synapses. T he Hewlett-Packa rd memristor is a passive nonlin ear two
t erminal circ uit element t ha t maintain s a fun cti on al rela t ionsh ip between t he time int egrals of
current and voltage, res pective ly, viz. charge an d fl ux. In thi s paper, we derive seve ra l nonl inear
oscillators from Chua's oscillators by rep lac ing Chua's d iodes with mem ristors.
K eywords: Memristor ; memrist ive devices; memristive systems; charge; flux; Chua's oscilla t or ;
Chu a 's dio de; learning; ne ur ons; syn apses; Hodgkin-Huxley; nerve membrane model.
One imm ediat e applicat ion offers an enablin g low W ( ) ~ dq(cp) (3)
cp dcp '
cost technology for n on-volatile mem ories/ where
future computers would t urn on instant ly wit hou t representing t he slope of a scalar function ip = cp( q)
t he usual "booting time", currently required in all and q = q(cp), respect ively, called t he memristor
pe rsonal com puters. con stit utive relat ion.
IMore tha n one million Google hits were registered as of J une 1, 2008.
2The Hewlett- Packard memristor is a t iny nano, passive, two-terminal device requiring no batteries. Memristors charact erized
by a nonmonotonic constit utive relat ion are called active memristors in this paper because t hey require a power supply.
3183
3184 M. Itoh & L. O. Chua
shown in Fig. 2, namely, for all t ~ to. Thus , the memristor constitutive rela
t ion in Fig. 2 is passive.
cp (q) = bq + 0.5(a - b)(lq + 11 - Iq - 11), (5)
Consider next the two-terminal circ uit in Fig. 3,
or which consists of a negative resist an ce' (or a
negative conductance) and a passive memristor.
q(cp) = dip + 0.5(c - d)(l cp + 11-Icp - 11), (6) If t he two-terminal circuit has a flux-cont rolled
...
r
"
slope = b
q
slope = a slope = c
Fig. 2. The const it ut ive relation of a monotone-in creasing piecewise-linear memristor: Ch arge-controlled memrist or (left).
Flux-controlled memristor (r ight) .
+ q(ep ) = j i(T)dT
V -G
= j (i 1 (T) + i 2(T))dT
Vl =M(q)i il =W('P)V
= j (W(ep) - G)VdT
- d'
q q
slope = d'
slope c'
1
-1 f r
for all t > 0. In t his case, there exists cp(to) = CPo between current i and voltage v of the memri st or is
and defined by Eq. (1).
If we integrate th e Kir chhoff's circuit laws with
i t p(T)dT
to
< 0, (15) respect to time t , we would obtain th e relati on on
the conse rva tion of charge and flux:
for all t E (to, t l )' Thus, the two-terminal circuit in
Fig. 3 can be designed to become an active device, (18)
and can be regarded as an "ac tive m emri stor " . m
Memristor
3.1. A fourth-order canonical Fig. 8. Du al cir cui t with a cha rge-cont rolled memristor.
memristor oscillator
Consider the canonical Chua's oscillator in Fi g. 6. flux- controlled memristor, we would ob tain the cir
If we replace the Chua 's diode in Fig. 6 with a cuit of Fig. 7. Its dual circuit/' can be easily obtained
by using a charge-contro lled memristor (see
R
F ig. 8) .
App lying Ki rchhoff's circuit laws to the nodes
A, B and the loop C of the circ uit in F ig. 9, we
obtain
+ + il = i3 - i, }
L V2 V1 Chua's
diode V3=V2 - Vl, (30)
C2 C1
i2 = - i3 + i 4.
A
B A
+ V3
+ + + + I
... - ......
\ +
-G V2 V1 Chua 's V4 V2
I
I ,
I
V Flux-controlled
C2 C2 \ I
memristor
C1 diode -G '.l.. , I
4A pai r of circ uits N and Nt ar e d ual if the eq uations of the two circ uits are identi cal , after a trivial cha nge of symbols. For
more details, see [Chua, 1969].
3188 M. ltoh & L. O. Chua
and the flux: Thus, (ql' q2, ip, <.p3) can be chosen to be the ind e
ql = q3 - q(<.p) , }
pendent vari abl es, namely, the cha rge of the capac
<.p3 = <.p2 - <P I, (31)
ito rs Gl , G2 , and t he flux of the inductor L and the
memristor , respectively.
qz = -q3+q4 ,
<P I =
6jt - 00 VI (t) dt ,
relation amo ng the four circuit variables (VI, V2,
i3, <.p):
<.p2
6jt
= - 00 v2(t) dt,
du,
Gl dt = i3 - W(<.p)V l,
<.p.3 =
6jt - 00 v3(t )dt,
di 3
L&= V2 - Vl ,
(35)
dV2
6jt
= =
G2 dt = -i3 + GV 2 ,
q =
6jt i(
- 00 t )dt ,
<.p - 00 v( t) dt <.p l
d<.p
dt = VI,
(32)
where
Here, t he symbo ls ql , q2, q3, q4 and q deno te t he
charge of t he capac itors Gl , G2 , t he inductor L , th e
cond uctance -G , and t he memri stor , respectively, dql _ i _ G dVl
and the symbol s <P I, <.p2, <.p3 and ip denote th e flux of dt - 1 - 1 dt '
..
(37)
T hus, Eq. (35) can be recast int o the following set of differential equations using on ly charge an d flux as
variables:
dq, <.p3 W (<.p )ql
dt L Gl
(38)
dq2 <.p3 Gq2
-;It = -y + G2 '
Memristor Oscillators 3189
We next study the behavior of this circuit . the piecew ise-linear fun ctions q(w) and W( w) are
E quati on (35) can be transformed into the form given by
1.5
1
0 .5
z o
-0.5
-1
-1.5
-2
-4 2
2
1.5
1
0 .5
y o
-0.5
-1
-1.5
-2
-2.5
- 1.5 3
Fig. 10. Chaotic att ractor of t he canonical Chua's osci llator with a flux-controlled memristor.
5We used t he fourth-order Rung e-Kutta method for integrating t he diffe rential equations.
3190 M. Itoh & L. O. Chu a
Lyapunov expo nent Al ~ 0.27.6 Furthermore, the which corresponds to the w-axis. The J acobian
divergence of t he vecto r field matrix D at this equ ilibrium set is given by
+ "(
div (X ) = - a W (w)
00 ]
r - 1 o o1
= - 4W(w) + 0.65 D= (42)
o -(3 "( 0 '
- 0.15, Iwl < 1,
(41)
1 o o 0
- { -39.35, Iwl > 1,
and its cha racteristic equa tion is given by
is negative. It follows that the Leb esgue measur e 2
of t his chaotic attractor is zero, and at leas t one p4 + (aW(w) - "()p 3 + ((3 + a - a"(W(w))p
Lyapunov exponent must be negative," + a((3W(w) - "()p = O. (43)
The equilibrium state of Eq. (39) is given by set
A = {(x,y, z , w ) lx = y = z = 0, w = constant.}, The four eigenvalues Pi (i = 1,2, 3, 4) of the equi
I libri um state (0,0 ,'0, w) can be writt en as
C I dt = 1.3 - W( <P)VI ,
d3 z d 2z
dz
L- = V2 - VI
dt '
+ a((3W (w ) - "()z = O. (45) (49)
dV2 .
C2 dt = - 1.3 ,
If we subst it ute
dy
d4u d 3u d 2u dt = -~( x + z),
dt 4 + (aW(w ) - "() dt 3 + ((3 + a - a"(W(w )) dt 2
(50)
dz
du dt = (3y,
+ a((3W(w) - "()di = 0, (47)
dw
where di =x,
du d 2u
(3u-"( - +
~
2
w(t) = dt + woo (48)
Flux-controlled
Here, Uo and Wo are const ants . Thus , its cha racter memristor
istic equation also has a zero eigenvalue.
Consider next t he fourt h-order oscilla tor in
Fig. 11 obtained by removing a resis tor from the Fi g. 11. A fourt h-order osci llator wit h a flux-con t rolled
circuit of F ig. 7. T he circuit equa t ion can be memristor .
6We used the soft ware pac kage M A TD S [Govorukh in , 2004] to calcula te the Lyapunov ex ponents.
7Note t hat if t he system is a flow, one Lyap unov exponent is always zero, whic h corresponds to the dir ection of t he flow.
where x = VI , Y = is , Z = - V2, W = ip, a = st able, and Eq . (50) does not hav e a chaotic attrac
I/C 1 , (3 = I/C2 , ~ = I/L , and the piecewise-linear tor. However , if we set a = 4.2, (3 = - 20, ~ = -1,
functions q(w) and W (w) are given by a = -2 and b = 9, our computer simu lation of
Eq . (50) gives a chaotic attractor in Fig. 12. By
q(w) = bw + 0.5(a - b)(lw + l l - lw - I I),} calc ulating the Lyapu nov exponents from sampled
W (w ) = dq(w) = {a, Iwl < 1, (51) time series, we found that t his chaotic attractor has
a positive Lyapunov exponent Al ~ 0.050 . In this
dw b, Iwl > 1.
case, the capacitance C2 and the ind uctance L are
Fr om Eq. (50), we obtain both negative (ac tive) and the mem ristor is active
as shown in F ig. 13 (see [Barb oza & Chua, 2008]) .
T he J acobian matrix D at the equilibrium set
{I 2 2
-dtd -2 ( -xa + -y~ + -z{32) } = - W (w )x 2 < 0
- ,
(52) is given by
- a w (W)
60
50
40
30
z 20
10
o
-1 0
-20
-30
-40
-50
15
10
-1 0
-5 y
2 -1 5
15
10
5
Y 0
-5
-10
-15
20
15
10
5
o
-10
-5
x
-1 5
w 1 .5 -2 0
F ig. 12. Chaotic attractor of the four t h-order oscillator with active elements (a = - 1, b = 5).
3192 M. It oh & L. O. Chua
I
------------------- ,I
+ I
I
I
I
: Flux-controlled :
, memristor ,
I I
I I
I
L ~
+
V2 Act ive
memristor
Fig . 13. A four-element fourth-orde r oscillator with three active eleme nts, one linea r capac ito r, one linear ind uctor , an d a
memristor.
q = -00 i( t)dt,
cP
6jt v(t)dt =
= -00 CP l
-R Flux-controlled (58)
memristor
Here, the symbols ql , q3 , and q den ote t he charge
of capacitor G I , indu ct or L , and th e memris
Fig . 14. A th ird -ord er oscillato r wit h a flux-contr olled tor, resp ectively, and the symbols CP I, CP3, CP4 and
memris to r. cP denote the fl ux of capacitor GI , indu ct or L ,
Mem ristor Oscill ators 3193
where
dq , _ C dVI dCP3 = V = L di3
zl - I dt ' dt 3 dt '
dt
Ll
dq3 . dCP4 .
-G
+ dt = z3, ill = V4 = R Z3,
V
C
Charge -co ntro lled
dCPI
----;[t= VI' W(cp ) = d~;) .
mem ristor (62)
Not e that the two kind s of ind ependent vari ables
are related by
Fi g. 15. Du al circu it with a charge-cont rolled memri stor.
(ql,cp,CP3) <II (vI, cp , i3)
(63)
A ql = C I VI , CP3 = Li3
+ V3
Thus, Eq. (61) can be recast into th e following set
of differential equations using only charge and flux
+ , ,-- ..... , as var iables :
V4 -R I
I
\
I
Flux -cont rolled
\ I mem risto r dq, CP3 W(cp )ql
::...
-' ' C -
dt L CI
dCP3 R CP3 ql
F ig. 16. Currents ij , volt ages Vj, node A , and loo p Care --- - (64)
indi ca ted . dt L CI'
dcp ql
-
resist an ce - R , and t he memri stor, respectively.f dt CI '
The sp - q characteristic curve of th e memristor is
given by We next study t he behavior of this circuit.
Equation (61) can be t ransfor med into the form
q(cp ) = bcp + 0.5(a - b)(lcp + 11- Icp - 11). (59)
dx
Solvin g Eq . (57) for (q3 ' CP4), we get dt = ex (y - W( z )x) ,
q3 = ql + q(cp), } (60) dy
CP4 = sp + CP3 dt = - ~x + f3y, (65)
Thus, (ql , sp ; CP3) can be chosen to be the ind epen
dz
dent vari ables , namely, th e charge of capaci tor C I , - = x
th e flux of inductor L , and the flux of th e memris dt '
tor, resp ectively. where x = VI , Y = i3, z = ip, ex = l / C I , ~ =
From Eq. (56) (or differentiating Eq. (57) with 1/L, f3 = R / L , and t he piecewise-linear functions
resp ect to time t ), we obtain a set of three first q(z ) and W( z ) ar e given by
ord er d ifferential equations, which defines t he rela
tion among t he t h ree variables (V I , i3 , cp): q(z) = bz + 0.5(a - b)(lz + 11- [z - 11), }
dVI
C I dt = i3 - W (cp )VI,
W( z) = dq(z ) = {a, Izl < 1,
(66)
dz b, Izl > 1,
di 3 .
resp ectively, where a , b > O.
L~ = R Z3 - VI (61)
dt ' The equilibrium st ate ofEq. (65) is given by th e
dcp set A ~ {(x ,y, z )lx = y = 0, z = constant }, which
di = VI,
corresponds to th e z-ax is. The Jacobian matrix D
8T he term "charge" and "flux" are just names given to th e definition in Eq . (58) , and should not be interpret ed as a phys
ical cha rge or flux in the classical sense . The imp ortant concept here is that they ar e m easurable qu ant it ies, obtained via
int egr ation .
3194 M. It oh & L. O. Chua
- a w (Z) a 0]
D= -~ (3 0 , (67)
r 1 0 0
and its characterist ic equation is given by
p3 + (aW( z) _ (3) p2 + a( ~ - (3W(z))p = O. (68)
If we set a = 1, (3 = 0.1 , ~ = 1, a = 0.02, and b = 2, then it has three eigenvalues Ai (i = 1, 2, 3):
Al,2 ~ 0.04 i 0.998198 , A3 ~ 0, for Izi < I , }
f'::, f'::,
Thus, the set B = {(x ,y, z )lx = y = O ,lzl < I} IS un stable, and the set C = {(x , y , z )lx = y = 0,
Izl > I} is stable. Our com puter sim ulation shows that Eq. (65) has two distinct stable periodic attractors
as shown in Fig. 17. Observe that they are od d symmetr ic images of each other , as expected in view of the
odd -symmetric cha racterist ic q = q(<p) of the memrist or in Eq . (66).
Equ ati on (65) can be transformed into t he for m
d2y dy
dt 2 + (aW (z ) - (3) dt + a( ~ - (3W (z ))y = 0, (70)
or equiva lent ly
-
d2y
dt 2
+ (co - (3)-
dy
dt
+ a(~ - a(3)y = 0
' for Izi < I,} (71)
d2y dy
-&2 + (ba - (3 )-
&
+ a(~ - b(3 )y = 0
' for [z] > 1.
Thus, Eq . (65) can be interpreted as a secon d-orde r linear different ial equation over the domain of the
state variable z whose dynamics evolves according to dz/dt = x in Eq. (65). Furthermore, if we substitute
t
r + c,
u(t) =f'::, in y(t)dt )
1.5
Z 1
0 .5
o
-0 .5
-1
-1.5
- 0.0 8
-0.0 6
-0 .0 4
-0 .0 2
o
x 0 .02
0 .04
0 .06 - 0 .06
0.08 0 .00
Fig. 17. Two pe riodic a t t rac tors of the thi rd-order canonical memristor oscillator.
Memristor Oscillators 3195
into Eq. (70) (c and d are constants), we would obtain the following third-order differential equation
dy
dt = -~x , (77)
dz
dt = x.
L1
From t his equation, we obtain
Charge-controlled
2
-d { -1 (x- + -y2) } = - W (z )x
dt 2 a ~
2 < O.
(78) + memristor
C V
Hence, t he z-axis is globally asymptotically stable.
From Eq. (77), we obtain
dy c dz = O. (79)
dt + <, dt Fig . 19. Dual circu it with a charge-cont rolled memristor.
3196 M. ltoh & L. O. Chua
(80)
+ Flux-controlled
where Yo is a constant. Since W( z) W(Yo - y), -G V
Eq. (77) can be transformed into the form
memristor
2
d 2 + aW ( Yo - Y) -.J!...
--.J!... d + ay = O. (81)
dt ~ dt
Thus, Eq. (77) is equivalent to a one-parameter fam . Fig . 20. A second -order circuit with a flux-controlled
ily of second-or der d ifferent ial equat ions. Since the memristor .
mini ma l dimension for a continuous chaotic system
is 3, Eq. (77) cannot have a chaotic attractor, even
if the circu it elements are active. We will d iscuss
thi s observat ion in Sec. 4.2.
Integrating Eq . (82) with resp ect to time t , we F ig. 21. Dual circui t with a charge-cont rolled memristo r.
obtain a set of equat ions which define a relation
bet ween th e charge an d the flux:
respectively. The cp - q characteristic curve of th e
ql = q3 - q(cp), (83) memristor is given by
where q(cp ) = bcp + 0.5(a - b)( lcp + 11- Icp - 11). (85)
ql =
6jt - 00 i l (t)dt ,
Solving Eq . (83) for q3, we obtain
q3 = ql + q(cp) . (86)
q
i3
il i
-G
+ +
VI V
(1 r
slope = a
Flux-controlled
memristor
Fig. 22. The circuit from Fig . 20 a nd th e <p - q charac te rist ic of t he flux-c ontrolled memristor d efined by Eq. (85). Currents
and voltage Vi a re indicated .
ii, i 3
where given by
ddqt
I
= (e - W( e.p )) ~II' 1 (90)
shows t hat x (t) -> 0 for t -> 00 as shown in Fig. 23.
Thus, t his second-order circuit does not oscillate.
dt = a(f3
dx
dy
- W(y )) x ,
1 (91)
We deri ve a set of differential equations from t he
nonlinear circuit directl y.
0.45
0.4
0.35
0.3
0.25
X
0.2
0.15
0.1
0.05
a
a 250 300 350 400
consisting of a conductance and a flux-controlled Equation (96) can be transformed into the form
memristor , we would obtain the circuit as in Fi g. 25. dx
The dyn amics of the circuit in Fi g. 25 is given by the di = O'(y - X + ~x - W( w)x ),
following set of four first- ord er differential equations dy
dVI V2 - VI dt =x - y + z ,
dz
dV2 _ VI - V2 dt = - f3y - ,,(Z ,
C2 dt - R - i,
(96) dw
di . &= x,
L- = V2 - rz
dt '
where we set
d<p
di = VI , x = VI, Y = V2, Z = - i, w = sp ;
where 1 1 r
b, Iwl > 1,
L + + (100)
V2 VI Chua 's
diode respectively, where a, b > O. If we set 0' = 10,
C2 CI f3 = 13, "( = 0.35, ~ = 1.5, a = 0.3 and b = 0.8,
r our computer simulation shows t hat Eq. (98) has
a chaotic attractor as sh own in Fig. 26. By calcu
lating the Lyapunov exp onents from sampled time
series, we found that this chaotic attractor has one
Fig. 24. Chu a 's oscillator . positive Lyapunov exponent Al = 0.0779.
Memristor Oscillator's 3199
R --------------- -----1
L + +
V2 VI -G Flux-controlled
C2 CI memristor
~-------------------
L + +
V2 VI Active
CI memristor
F ig. 25. Chua's oscillator with a flux-controlled memristor and a negative conductance.
1 0 0 0
dcp dz
di = v, dt = x,
6
4
2
Z
0
-2
-4
-6
1.5
0.5
Y
0
-0.5
-1
-1.5
-3 5
F ig. 26. Chaotic attractor of Chua 's oscillator with a flux-controlled memrist or and a nega t ive cond uctance.
,=
where x = v , y = i , z = sp, a = l/C, /3 = 1/ L ,
G, and t he piecewise-linear fun ctions q(z) and
W (z) ar e given by
respectively, whe re a, b > O. From Eq. (105), we
obtain
(107)
q(z) = bz + 0.5(a - b)(lz + 11- [z - 11),
Thus , y(t ) and z (t ) satisfy
(106)
a, Izl < 1,
W( z) = { _ y(t ) + c
b, Izi > 1, z (t ) - /3 ' (108)
Memri st or Oscillat ors 3201
D= {3 o
(111)
[
Fi g. 27. Va n de r Pol oscillator. 1 o
Its characteri sti c equ ation and eigenvalues Ai (i =
I 1, 2, 3) can be written as
I
L
I
I
I
I
-G Flux-controlled p(p2 + a(a -,) p + a(3 ) = 0, Izl < I,} (112)
I
I
memristor p(p2 + a (b -,) p + a (3 ) = 0, Izl > 1,
I
I
~ - - - - - - ------ - - - - - - - - - --
and
i = (G - W( <p))v ,
d2y dy
z 2
1
o
-1
-2
-3
-4
-1 .5
o
x
2
3
ID
+
L VD Chua 's
diode
F ig . 30 . A relax at ion osc illator where t he VD - iD curve of Chua's di od e is given by F ig. 15 of [Barboza & Chua, 2008].
We can interpret Eq. (119) as a one-p ar ameter fam If we set , = 1, (3 = 1 and c = 1, the corr ect solution
ily of first-order differential equa tions, namely, of Eq. (124) is given by
dz y
- z(t ) = 1 } 2 (e - t ), (125)
dt 't ': W (z)
where e is a constant , and shown in Fig. 32.
(3 z + c Our comp uter simulation shows that Eq . (124)
, - W( z) exh ibits the in correct irregular oscillation shown in
r+ I -a
{3 z + c
'
c
[z] < 1,
[z] > l.
(120)
resp ect ively, where c and d are constants. where q(<p ) denotes th e characteristic of th e mem
If we replace the piecewise-linear function of the ristor. Differentiating Eq . (126) with resp ect to time
memristor by a smooth cubic function , namely t , we obtain
q(z) = 3
Z3 ' }
J + Gv = W(<P)V,}
(123) d<p (127)
W( z) = z2, &=v,
1.2 .------,-----~---,----_.__--~---
0 .8
N O.6
0.4
0 .2
N 10
15
20
25
-30 L - _.l...-_ - ' -_ - ' -_ --'--_ --'-_ - ' - _ - - - ' -_ - - - ' - _ - - - ' - _ - - - l
o 100 zoo 300 400 500 600 700 800 900 1000
t
Fi g. 33. Erroneo us oscillation of the second-orde r oscillator from Fi g. 31 obtained by compute r-simulat ion via a fourth-order
Runge-Kutta formu la with st ep size h = 0.002 and the initial condit ion z(O) = O.
J t Active
memristor
where C is som e constant , and does not exhib it
any oscillations, as shown in Fig. 36. Note t hat
solut ion of Eq. (133) do es not exist for t >
C / 10, implying that a more realist ic circuit model
Fig. 34. A first-or der oscillator with a flux-controlled of the physical circ uit is needed [Chua et ol.,
memristor. 1987].
Memristor Oscillators 3205
100
50
50
X
100
1 50
200
25 0
a 100 200 300 400 500 600
t
Fig. 35. Erroneous oscillation of the first-order oscillator from Fig. 34 obta ined by compute r-simulation via a fourth-order
Runge-K utta formula with step size h = 0.003 and th e initial condition x( O) = 0.3.
2 .5
X
1.5
0 .5
Johnson, R. C. [2008] "W ill memristors prove irr e Strukov, D. B. , Snider, G. S., St ewart, G . R. & Willi am s,
sistible?" EE Tim es issu e 1538, August 18, R. S. [2008] "T he missin g memrist or found," Nature
pp . 30-34. 453 , 80-83.
Madan, R. N. [1993] Chua 's Circuit: A Paradigm for Tour, J. M. & He, T. [2008] "T he fourth element," Nature
Chaos (World Scientific, Singapore) . 4 53 ,42-43.