PRAMANA 

c Indian Academy of Sciences Vol. 76, No. 3

— journal of March 2011
physics pp. 385–396

Inverse synchronization of coupled fractional-order

systems through open-plus-closed-loop control
JUNWEI WANG∗ , LI ZENG and QINGHUA MA
Cisco School of Informatics, Guangdong University of Foreign Studies, Guangzhou 510006,
People’s Republic of China
*Corresponding author. E-mail: wangjunweilj@yahoo.com.cn

MS received 16 May 2010; accepted 21 September 2010

Abstract. In this paper, the inverse synchronization problem of fractional-order dynamical sys-
tems is investigated. A general explicit coupling via an open-plus-closed-loop control for inverse
synchronization of two arbitrary unidirectionally or bidirectionally coupled fractional-order sys-
tems is proposed. The inverse synchronization is proved analytically based on the stability theorem
of the fractional differential equations. A key feature of this proposed scheme is that it can be applied
not only to nonchaotic but also to chaotic fractional-order systems whenever they exhibit regular
or irregular oscillations. Feasibility of the proposed inverse synchronization scheme is illustrated
through numerical simulations.

Keywords. Inverse synchronization; antisynchronization; fractional differential equations; open-

plus-closed-loop control.

PACS Nos 05.45.Xt; 05.45.-a; 05.45.Pq

1. Introduction

As a generalization of ordinary integrals and derivatives to arbitrary order, fractional

calculus (integration and differentiation of fractional order) can go back to Liouville,
Riemann, Leibniz, Grunwald, and Letnikovis [1–3]. Nowadays, this branch of mathe-
matics has found applications in a number of different areas ranging from physics to
engineering. It is known that many systems in interdisciplinary fields can be modelled by
fractional differential equations (FDEs), such as viscoelastic materials [4], quantum
mechanics [5], electrode–electrolyte polarization [6], coloured noise [7], electromag-
netic waves [8], boundary layer effects in ducts [9], dielectric polarization [10], and
non-Hamiltonian mechanics [11,12].
Similar to their integer-order counterparts, fractional-order differential systems can
display chaotic dynamics, e.g., fractional-order Chua’s system [13], fractional-order Chen
system [14], fractional-order cellular neural networks [15], fractional-order Lorenz

385
 Junwei Wang, Li Zeng and Qinghua Ma

system [16], fractional-order Rössler system [17] and fractional-order systems with mul-
tiscroll chaotic attractors [18–22]. Moreover, it is also found that fractional-order Van
der Pol oscillator [23,24], fractional-order Brusselator [25] and fractional-order Wien-
bridge oscillator [26] can demonstrate limit cycle behaviours. On the other hand, as
the twin of chaos, there is a new trend to investigate the synchronization problem of
fractional-order systems [27–34] due to its potential applications in secure communica-
tion and control processing. The master–slave synchronization of fractional-order chaotic
systems was first studied by Li et al [27]. Li and Deng further studied chaos synchro-
nization of fractional Duffing, Lorenz and Rossler systems with three coupling meth-
ods [30]. Wang et al [32] successfully extended a nonlinear controller to fractional Chen
system to achieve complete synchronization. In ref. [33], the author presented a drive-
response synchronization method via a scalar transmitted signal for a class of
fractional-order chaotic systems.
We find that in the aforementioned literatures, most of the authors are concerned with
the complete synchronization (CS) of fractional-order chaotic systems [27–34]. More re-
cently, the generalized synchronization (GS) of fractional-order systems is investigated
[35,36]. There the mechanism and the necessary and sufficient conditions for the occur-
rence of GS of fractional-order systems are clarified and presented. In [37], the projective
synchronization (PS) [38] was extended to fractional-order systems and a synchronization
scheme was designed to achieve PS of the fractional-order unified system. In addition to
CS, GS and PS, other types of synchronization phenomena such as phase synchronization
[39], lag synchronization [40,41], transient ladder synchronization [42], anticipated syn-
chronization [43], inverse synchronization (IS) [44], have also been observed since the
pioneering work by Pecora and Carrol [45]. Among these, the inverse synchronization
(IS) (also referred to as antisynchronization (AS)) is a noticeable phenomenon in coupled
oscillators since the first observation of synchronization behaviour between two pendu-
lum clocks by Huygens in the 17th century. By definition, IS is the phenomenon in which
the state vectors, say x(t) and y(t), of the synchronized systems have the same absolute
values but opposite signs, that is, x(t) = −y(t). IS phenomena have been observed exper-
imentally even in coupled laser systems [46] and salt-water oscillators [47]. So far, some
progress has been made in the researches of IS (see [48] and references therein). However,
to the best of our knowledge, there are no reports on the IS of fractional-order dynamical
systems till date. In addition, IS has potential applications in fields such as secure com-
munications and digital communication [44], which has become a field of recent interest.
In this paper, for the first time, the IS of fractional-order dynamical systems is dis-
cussed. In particular, we propose a general coupling scheme for IS in both unidirectionally
and bidirectionally coupled fractional-order dynamical systems via the open-plus-close-
loop (OPCL) control method [49,50]. The proposed coupling scheme is theoretically
proved based on stability theory of fractional differential equations (FDEs). It enables
synchronization of chaotic or nonchaotic fractional-order systems to be achieved in a
systematic way.
The rest of this paper is organized as follows. Section 2 summarizes the basic concepts
in the fractional derivatives and its numerical algorithms. Section 3 is devoted to design-
ing the coupling scheme for IS of unidirectionally and bidirectionally coupled fractional-
order systems. Numerical simulations on a fractional-order periodic and a fractional-order

386 Pramana – J. Phys., Vol. 76, No. 3, March 2011

 Inverse synchronization of coupled fractional-order systems

chaotic system are provided to confirm the theoretical analysis in Section 4. Finally, con-
clusions in §5 close the paper.

2. Preliminaries

2.1 Brief introduction to fractional derivatives

At present, there are several definitions for fractional derivatives of order α (α > 0), not
all being equivalent. The two most commonly used definitions are the Riemann–Liouville
and the Caputo definitions [3].
The Riemann–Liouville (RL) derivative is described as
α
RL D f (t) = D m J m−α f (t), α > 0, (1)

where m is the smallest integer larger than α, i.e., m − 1 < α < m, D m is the usual m-
order derivative and J μ is the μ-order Riemann–Liouville integral operator with
expression
 t
μ 1
J f (t) = (t − τ )μ−1 f (τ )dτ, μ > 0, (2)
(μ) 0

where (·) denotes the gamma function

 ∞
(z) = t z−1 e−t dt.
0

The Caputo derivative is defined by

α
CD f (t) = J m−αD mf (t), α > 0, (3)

where m − 1 < α < m.

In modelling real-world phenomena with FDEs, the Riemann–Liouville definition leads
to initial conditions containing the values of the Riemann–Liouville derivatives at the ini-
tial conditions which have no obvious physical interpretation. Therefore, this is not always
the most convenient definition for real applications. But, the Caputo fractional derivative
has the advantage of requiring only the initial conditions given in the same form as for
integer-order derivatives. These integer-order derivatives have well-understood physical
meanings and therefore their values can be measured accurately. These are the main rea-
sons for us to choose the Caputo derivative. Hereafter, we use the notation dα/dt α to
denote the Caputo fractional derivative operator C D α.

2.2 Numerical algorithm of fractional differential equations

The numerical solution of a FDE is not as simple as that of an ordinary differential
equation. Here we employ the predictor–corrector approach for the FDE with Caputo

Pramana – J. Phys., Vol. 76, No. 3, March 2011 387

 Junwei Wang, Li Zeng and Qinghua Ma

derivative [51], which is in essence an improved version of Adams–Bashforth–Moulton

algorithm. The following is a brief introduction of this algorithm.
The fractional differential equation:

dq y(t)
= f (t, y(t)), 0 ≤ t ≤ T,
dt q
y (k) (0) = y0(k) , k = 0, . . . , m − 1, (m = q)

is equivalent to the Volterra integral equation [52]


m−1 k  t
t 1
y(t) = y0(k) + (t − s)q−1 f (s, y(s))ds. (4)
k=0
k! (q) 0

Set h = T/N, tn = nh, n = 0, 1, . . . , N ∈ Z + . Then eq. (4) can be discretized as

 tn+1
m−1 k
hq
y0(k) +
p
yh (tn+1 ) = f (tn+1 , yh (tn+1 ))
k=0
k! (q + 2)

hq  n
+ a j,n+1 f (t j , yh (t j )), (5)
(q + 2) j =0

where
⎧ q+1
⎨n − (n − q)(n + 1)q , j =0
a j,n+1 = (n − j + 2)q+1 + (n − j )q+1 − 2(n − j + 1)q+1 , 1 ≤ j ≤ n,
⎩
1, j =n+1

 tn+1
m−1 k
1 
n
y0(k) +
p
yh (tn+1 ) = b j,n+1 f (t j , yh (t j )),
k=0
k! (q) j =0

in which b j,n+1 = (h q /q)((n + 1 − j )q − (n − j )q ).

The truncated error estimate [53] is described as follows:

max |y(t j ) − yh (t j )| = O(h p ), where p = min(2, 1 + q).

j =0,1,...,N

3. Coupling design for inverse synchronization of coupled fractional-order systems

The open-plus-closed-loop (OPCL) control proposed by Jackson and Grosu [49] for com-
plex nonlinear systems combines both the open-loop and the closed-loop actions. The
OPCL control has found its applications in the synchronization of both integer-order and
fractional-order differential systems [54–60]. Here, we shall further investigate its new
applications in IS of the fractional-order differential systems.

388 Pramana – J. Phys., Vol. 76, No. 3, March 2011

 Inverse synchronization of coupled fractional-order systems

3.1 Unidirectional coupling

In our work, we consider the fractional differential system in the form of
dα x
= f(x), (6)
dt α
where α ∈ (0, 1) is the fractional order, x = (x 1 , x 2 , . . . , x n )T ∈ R n is a n-dimensional
state vector of the system, f : R n → R n is a nonlinear vector function.
In order to observe the IS behaviour of fractional-order dynamical systems, we con-
struct two fractional-order systems where the master system with state variables is de-
noted by x and the slave system with state variables is denoted by y. The master and slave
systems have identical dynamical equations, but with different initial conditions. There-
fore, with (6) as the master system, the slave system is described by the following
equation:
dα y
= f(y) + u(t), (7)
dt α
where y = (y1 , y2 , . . . , yn )T ∈ R n is the state vector of the slave system, u =
(u 1 , u 2 , . . . , u n )T ∈ R n denotes an external control input desired to be designed.
Defining the synchronization error signal between systems (6) and (7) as e(t) = x(t) +
y(t), the aim of IS is to design the coupling u(t) such that
e(t)
→ 0 as t → ∞.
We define the OPCL coupling function [49,50] u(t) as follows:
 
dα x ∂f(s) 
u(t) = − α − f(−x) + H − [x(t) + y(t)], (8)
dt ∂s s=−x

where H is a constant control matrix. Then the synchronization error dynamics can be
expressed as
dα e(t)
= f(x) + f(y) + u(t)
dt α
dα x
= f(x) + f(y) − α − f(−x)
 dt

∂f(s) 
+ H− [x(t) + y(t)]. (9)
∂s s=−x

Using the Taylor series expansion, f(y) in the right-hand side of eq. (9) can be
expanded as

∂f(s) 
f(y) = f(−x) + e(t) + · · · . (10)
∂s s=−x

Hence the IS error system (9) becomes

dα e(t)
= He(t) . (11)
dt α

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 Junwei Wang, Li Zeng and Qinghua Ma

Now, according to the stability theorem of linear FDEs [61], we can derive the follow-
ing results:

Theorem 1. For the master system (6) and the slave system (7) with the OPCL coupling
(8), if

|arg[λi (H)]| > απ/2, (12)

is satisfied for all eigenvalues λi (i = 1, 2, ..., n) of matrix H, then the IS of systems (6)
and (7) is achieved.

3.2 Bidirectional coupling

Consider the following bidirectionally coupled fractional-order systems:
dα x
= f(x) + u1 (x, y) (13)
dt α
and
dα y
= f(y) + u2 (x, y), (14)
dt α
where u1 (x, y) and u2 (x, y) are the coupling terms.
According to the mutual OPCL coupling [56], we propose the following coupling
functions:
 

∂f(s)  x+y
u1 (x, y) = H − (15)
∂s s= x(t )−y(t ) 2
2

and
 

∂f(s)  x+y
u2 (x, y) = H − . (16)
∂s s= y(t )−x(t ) 2
2

We use the Taylor expansion for f(x) and f(y):

 

x−y ∂f(s)  x+y
f(x) = f + + ···
2 ∂s s= x(t )−y(t ) 2

  2


y−x ∂f(s)  x+y
f(y) = f + + ··· . (17)
2 ∂s s= y(t )−x(t ) 2
2

Finally, for the nonlinear function f with the reflecting symmetry characteristic, i.e.
f(−x) = −f(x), the dynamics of IS error e(t) = x(t) + y(t) can be written as
dα e
= f(x) + u1 (x, y) + f(y) + u2 (x, y)
dt α
= He. (18)

390 Pramana – J. Phys., Vol. 76, No. 3, March 2011

 Inverse synchronization of coupled fractional-order systems

Now, according to the stability theorem of linear FDEs [61], we can obtain the follow-
ing results.

Theorem 2. Suppose that the nonlinear function f(x) is an old function of x, that is,
f(−x) = −f(x). The mutually coupled fractional-order systems (13) and (14) with the
OPCL coupling schemes (15) and (16) can achieve IS, if all eigenvalues λi (i = 1,
2, ..., n) of the control matrix H satisfy the following condtions:

|arg[λi (H)]| > απ/2. (19)

4. Numerical simulations

In this section, two examples will be provided to demonstrate the effectiveness of the
coupling schemes proposed in the preceding sections: one is the unidirectionally-coupled
fractional-order periodic systems and the other is the bidirectionally-coupled fractional-
order chaotic systems.

4.1 Inverse synchronization in unidirectionally coupled fractional-order

periodic systems
We consider the IS of fractional Brusselator, which reads as
⎧ α
⎪
⎪ d x 1 = a − (b + 1)x 1 + x 12 x 2
⎨
dt α
α (20)
⎪
⎪ d x 2 = bx − x 2 x ,
⎩ 1 1 2
dt α
where a = 1 and b = 4. The integer-order Brusselator introduced by Prigogine and
Lefever [62] is an abstract model of the autocatalytic chemical reaction which was used
to show that chemical systems could oscillate. This model is widely used because of its
theoretical simplicity, while retaining the functional form of the more complex reaction
networks. The fractional Brusselator (eq. (20)) with a fractional order α = 0.95 can
exhibit limit cycle behaviour, as shown in figure 1.
According to the proposed coupling scheme (8), we choose the control matrix as
follows:


−(b + 1) + k1 k2
H= .
b + k3 k4

Then, the slave system can be described as

⎧ α
⎪ d y1
⎪
⎪ = a − (b + 1)y1 + y12 y2 − 2a + (k1 − 2x 1 x 2 )(x 1 + y1 )
⎪
⎨ dt α
+ (k2 − x 12 )(x 2 + y2 ),
⎪
⎪
⎪ α
⎪ d y2
⎩ = by1 − y12 y2 + (k3 + 2x 1 x 2 )(x 1 + y1 ) + (k4 + x 12 )(x 2 + y2 ).
dt α
(21)

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 Junwei Wang, Li Zeng and Qinghua Ma

x2
4

0
0 2 4 6 8
x1

Figure 1. View of the limit cycle of the fractional-order Brusselator (eq. (20)) on
(x1 , x2 ) plane.

The control parameters ki (i = 1, 2, 3, 4) in eq. (21) are chosen as k1 = 2, k2 = 0, k3 =

0 and k4 = −5, then we can find that the corresponding eigenvalues of H are λ1 = −3
and λ2 = −5. It can easily be verified that both λ1 and λ2 lie in the region of |arg(λ)| >
19π/40. According to Theorem 1, we know that the master Brusselator (20) and the
slave Brusselator (21) are inversely synchronized. Let the initial values for the drive–
response systems (20) and (21) are arbitrarily given by (x 1 (0), x 2 (0)) = (0.3, 4) and
(y1 (0), y2 (0)) = (−0.4, −3.6), respectively. Figure 2 depicts the simulation results. From
figure 2, we can conclude that the components of the error dynamics decay towards zero
as t → ∞.

4.2 Inverse synchronization in bidirectionally coupled fractional-order chaotic systems

We consider the IS of a fractional-order chaotic system which is described by
⎧ α
⎪ d x1
⎪
⎪ dt α = cx 1 + x 3 ,
⎪
⎪
⎪
⎨ α
d x2
= x1 − x2, (22)
⎪
⎪ dt α
⎪
⎪
⎪
⎪
α
⎩ d x 3 = −x 3 + x 2 .
dt α 1

With c = 0.49, this system in its integer-order version displays chaotic behaviour [63]. For
the fractional version (22) of this system, we also observe chaotic behaviour with frac-
tional order α = 0.99. Figure 3 shows the chaotic attractor of the fractional-order chaotic
system (22) with initial conditions (x 1 (0), x 2 (0), x 3 (0)) = (0.5, 0.9, −1). The system
satisfies the assumption in Theorem 2 that the nonlinear function is an odd function of x.
According to the proposed coupling schemes (15) and (16), with the control matrix
⎛ ⎞
c 0 1
H = ⎝ 1 −1 0 ⎠,
k 1 0

392 Pramana – J. Phys., Vol. 76, No. 3, March 2011

 Inverse synchronization of coupled fractional-order systems

(a)
10
x
1

1
x ,y
0

1
y1

−10
0 5 10 15 20 25 30
(b)
10
x2
2
x ,y

0
2

y2

−10
0 5 10 15 20 25 30
(c)
0.5
e1
e
2

2
e ,e

0
1

−0.5
0 5 10 15 20 25 30
t

Figure 2. Inverse synchronization of two unidirectionally coupled fractional-order

Brusselators (eqs (20) and (21)) with initial conditions (x1 (0), x2 (0), y1 (0), y2 (0)) =
(0.3, 4, −0.4, −3.6). (a) x1 and x2 ; (b) y1 and y2 ; (c) e1 and e2 .

the bidirectionally coupled fractional-order chaotic systems are explicitly expressed as

follows:
⎧ α
⎪
⎪ d x 1 = cx 1 + x 3 ,
⎪
⎪
⎪
⎪ dt α
⎪
⎨ dα x 2
= x1 − x2, (23)
⎪
⎪ dt α
⎪
⎪


⎪
⎪ dα x 3 3(x 1 − y1 )2 x 1 + y1
⎪
⎩ α = −x 1 + x 2 + k +
3
dt 4 2

0
3
x

−1

−2 −2
2 −1
1
0 0
−1 1 x2
x1 −2 2

Figure 3. View of the double-scroll chaotic attractor of the fractional-order system

(22) on (x1 , x2 , x3 ) space.

Pramana – J. Phys., Vol. 76, No. 3, March 2011 393

 Junwei Wang, Li Zeng and Qinghua Ma

and

⎧ α
⎪ d y1
⎪
⎪ = cy1 + y3 ,
⎪
⎪ dt α
⎪
⎪
⎨ d α y2
= y1 − y2 , (24)
⎪
⎪ dt α
⎪
⎪


⎪
⎪ d α y3 3(y1 − x 1 )2 x 1 + y1
⎪
⎩ = −y1 + y2 + k +
3
,
dt α 4 2

where k in H is the design parameter to be chosen such that the IS between systems (23)
and (24) is achieved. When k = −1.2, the corresponding eigenvalues of the control matrix
H are λ1,2 = −0.1006 ± 0.7986i and λ3 = −0.3087. According to Theorem 2, we know
that the synchronization error e(t) = x(t)+y(t) converges to zero, thus the IS of the mutu-
ally coupled systems (23) and (24) is achieved. Let the initial values for the drive–response
systems (23) and (24) are arbitrarily given by (x 1 (0), x 2 (0), x 3 (0)) = (0.5, 0.9, −1) and
(y1 (0), y2 (0), y3 (0)) = (−0.6, −0.8, 0.7), respectively. Numerical simulation results in
figure 4 confirm this conclusion.

(a)
2
x
1
1
x ,y

0
1

y1
−2
0 20 40 60 80
(b)
2
x2
2
x ,y

0
2

y
2
−2
0 20 40 60 80
(c)
2
x3
3
x ,y

0
3

y
3
−2
0 20 40 60 80
(d)
0.5 e
3 e
1
e1, e2, e3

0
e2
−0.5
0 20 40 60 80
t

Figure 4. Inverse synchronization of two mutually coupled fractional-order chaotic

systems (23) and (24) with initial conditions (x1 (0), x2 (0), x3 (0), y1 (0), y2 (0),
y3 (0)) = (0.5, 0.9, −1, −0.6, −0.8, 0.7). (a) x1 and x2 ; (b) y1 and y2 ; (c) z 1 and
z 2 ; (d) e1 , e2 and e3 .

394 Pramana – J. Phys., Vol. 76, No. 3, March 2011

 Inverse synchronization of coupled fractional-order systems

5. Conclusions

In this paper, we have shown that the inverse synchronization (IS) can appear in fractional-
order dynamical systems. Based on the open-plus-closed-loop (OPCL) control method,
general coupling schemes were proposed for two unidirectionally and bidirectionally cou-
pled fraction-order systems. Further, the IS scheme is theoretically proved through the
stability theorem of linear FDEs. The results reported in this paper have further extended
the application of OPCL control in synchronizing integer-order and fractional-order sys-
tems [54–60]. Finally, we point out that although we consider only the coupled identical
fractional-order systems, in many real world systems such as biological systems and laser
arrays, it is hardly the case that every component can be assumed to be identical. There-
fore, realizing IS of coupled nonidentical fractional-order systems will be an interesting
and challenging subject, which will be our future work.

Acknowledgements

This work was supported by the Foundation for Distinguished Young Talents in Higher
Education of Guangdong, China (Grant No. LYM10074), and the Natural Science Foun-
dation of Guangdong Province (Grant No. 9451042001004076).

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