Recommended by Frederic Mazenc

Accepted Manuscript

Analysis and Control of Singular Bio-Economic Prey-Predator Model

Behnam Babaei, Masoud Shafiee

PII: S0947-3580(18)30346-7
DOI: https://doi.org/10.1016/j.ejcon.2019.01.001
Reference: EJCON 321

To appear in: European Journal of Control

Received date: 5 August 2018

Revised date: 14 December 2018
Accepted date: 11 January 2019

Please cite this article as: Behnam Babaei, Masoud Shafiee, Analysis and Control of
Singular Bio-Economic Prey-Predator Model, European Journal of Control (2019), doi:
https://doi.org/10.1016/j.ejcon.2019.01.001

This is a PDF file of an unedited manuscript that has been accepted for publication. As a service
to our customers we are providing this early version of the manuscript. The manuscript will undergo
copyediting, typesetting, and review of the resulting proof before it is published in its final form. Please
note that during the production process errors may be discovered which could affect the content, and
all legal disclaimers that apply to the journal pertain.
 ACCEPTED MANUSCRIPT

Analysis and Control of Singular Bio-Economic Prey-Predator Model

Behnam Babaei, Masoud Shafiee

Department of Electrical Engineering, Amirkabir University of Technology, Iran, mshafiee@aut.ac.ir

Abstract

T
Nonlinear models have been used in many biological systems. Meanwhile, nonlinear singular models provide

IP
more detailed description of them. In this paper, a harvested singular prey-predator model is proposed, which is
governed by three-dimension differential equations and the algebraic equation. Compared with the differential

CR
models, advantages of the proposed singular model are explained. The system will be analyzed and its stability
will be studied. This system has a chaotic behavior and a singularity induced bifurcation(SIB) point in which
cause various complexities in the behavior of the system. A suggested state feedback controller is designed to

US
stabilize the singular model system around an interior equilibrium, which eliminates SIB and chaotic behaviors.
Then local stability of the system will be proved by the Lyapunov method. Finally, some numerical simulations
will be given to verify the analytical results.
AN
Keywords: singular system, biological systems, singularity induced bifurcation, prey-predator, bio-economic,
harvest effort, chaotic behavior, Lyapunov exponent, Lyapunov stability
M

1. Introduction
ED

One of the important branches of biological systems is the prey-predator ecosystem that many of the phe-
nomena are used in the description[1, 2]. The prey-predator ecosystem has become the focus of attention among
researchers recently. Also, the main attempt carried out in the recent studies was to investigate various types
PT

of interaction within harvested prey-predator ecosystem and in fact much research has been studies on the
harvested prey-predator ecosystem[3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17].
One of harvested prey-predator models[3]can be expressed as follows:
CE



 ẋ1 (t) = x1 (t)(r1 − a11 x1 (t) − a12 x2 (t) − a13 y(t)),



AC

ẋ2 (t) = x2 (t)(r2 − a21 x1 (t) − a22 x2 (t) − a23 y(t)), (1)




ẏ(t) = y(t)(−r + a x (t) + a x (t)) − H(t),
3 31 1 32 2

where x1 (t) stands for a population of the prey 1 and x2 (t) shows that of prey 2, y(t) denotes population of the
predator; ri (i = 1, 2, 3) represents the amount of growth and termination among three species; aij (i = 1, 2, 3)
with i 6= j and aii (i = 1, 2) represents intra-species and inter-species coefficient of competitive interactions,
respectively; a31 and a32 indicate the coefficient between predators and preys, and H(t) is a harvest function
which rooted in human effort from harvesting the species of predators.
In[3], the interacting one-predator two-prey model was investigated and harvest rate was determined as a

Preprint submitted to Elsevier January 24, 2019

 ACCEPTED MANUSCRIPT

control parameter. The results showed that harvesting a specific species alter the balances status dramatically.
Moreover, the stable states may turn to unstable ones [18, 19].
In this paper, more complete and realistic models are offered. Considering the economic interest of harvest
effort on all species, the proposed model can be expressed as follows:


 ẋ1 (t) = x1 (t)(r1 − a11 x1 (t) − a12 x2 (t) − a13 y(t)) − β1 H1 (t),



ẋ2 (t) = x2 (t)(r2 − a21 x1 (t) − a22 x2 (t) − a23 y(t)) − β2 H2 (t), (2)




ẏ(t) = y(t)(−r + a x (t) + a x (t)) − β H (t).

T
3 31 1 32 2 3 3

IP
In this model, for each species, a harvest function is considered and it means that human interference in nature
affects all species. There are many reasons that the proposed model is shown in 2 is more actual than the

CR
previous models. When human destroys and harvests natural resources to meet economic interests, it is obvious
that not only the predator population but also all the species in an ecosystem can be targeted by humans.
For simplicity of calculations, the beta values are assumed as follow:

US
β1 = β2 = β3 = 1.

In the following, the algebraic sentence has been added to the system that describes the economic effects of
AN
human involvement in nature, which is referred to as the singular model.

2. Singular Model
M

Singular systems (differential-algebraic systems), which have been investigated over the past decades, are
rather general kind of equations [20, 21]. They are established according to relationships among the variables.
ED

Naturally, it is usually differential or algebraic equations that form the mathematical model of the system or
the descriptor equation. The general form of a singular system is as follows:

PT


Aẋ(t) = G(x(t), u(t), t),
(3)

y(t) = K(x(t), u(t), t),
CE

where x(t) is the state of the system composed of state variables; u(t) is the control input and y(t) is the
measured output and the matrix A is singular.
AC

In general, singular model systems exhibit more complicated dynamics than ordinary differential models. The
singular systems have been applied widely in biological systems, power systems, aerospace engineering, chemical
processes, social economic systems, network analysis, etc. In the past decades, ordinary differential equations
system theories have been applied in the research field of biology [22, 23, 24, 25]. Some applications of singular
models in the field of economics are given in[26, 27, 28, 29, 30] in chemical processes [31] in power systems[32,
33, 34] and in aerospace engineering [35].
As described for singular systems, using such models, more details can be analyzed. By adding the algebraic
sentence to the differential equations, the economic arguments for human interference in nature have been

2
 ACCEPTED MANUSCRIPT

studied.
According to [36], an equation is suggested to study the economic interest obtained from harvest effort, which
is as follows:
N et Economic Revenue(N ER) = T otal Revenue(T R) − T otal Cost(T C). (4)

E(t) is the harvest effort and x1 (t), x2 (t), y(t) are the density of the harvested population, respectively, and
then T R = wE(t)y(t), T C = cE(t),w shows unit price constant, and c is a constant denoting the unit cost of
all harvest effort. According to model system1, an algebraic equation, which takes into account the economic

T
interest v of the harvest effort E(t) on the predator y(t) is represented as follows:

IP
E(t)(wy(t) − c) = v. (5)

CR
By comparing models 1 and 2, the proposed algebraic equation of this paper is as follow:

E(t)(w1 x1 (t) + w2 x2 (t) + w3 y(t) − c) = v, (6)

US
where wi (i = 1, 2, 3) represent the unit price of all species. So a singular model consisting of three differential
equations and an algebraic equation can be suggested as follows:
AN


ẋ1 (t) = x1 (t)(r1 − a11 x1 (t) − a12 x2 (t) − a13 y(t)) − E(t)x1 (t),






ẋ2 (t) = x2 (t)(r2 − a21 x1 (t) − a22 x2 (t) − a23 y(t)) − E(t)x2 (t),
(7)

M


ẏ(t) = y(t)(−r3 + a31 x1 (t) + a32 x2 (t)) − E(t)y(t),





0 = E(t)(w x (t) + w x (t) + w y(t) − c) − v.
1 1 2 2 3
ED

In order to investigate the effect of parameters related to the algebraic sentence(w1 , w2 , w3 , c, v) and to simplify
the model’s analysis, other parameters are set as below:

a11 = 0.2, a12 = 2, a13 = 1, a21 = 0.3, a22 = 2, a23 = 0.1, a31 = 1, a32 = 1, r1 = 1, r2 = 1, r3 = 1.
PT

These values are derived from [37] which is theirs, the system has a chaotic behavior.
CE

So the model 7 can be considered as follows:



 ẋ1 (t) = x1 (t)(1 − 0.2x1 (t) − 2x2 (t) − y(t)) − E(t)x1 (t),






ẋ2 (t) = x2 (t)(1 − 0.3x1 (t) − 2x2 (t) − 0.1y(t)) − E(t)x2 (t),
AC

(8)



ẏ(t) = y(t)(−1 + x1 (t) + x2 (t)) − E(t)y(t),




0 = E(t)(w x (t) + w x (t) + w y(t) − c) − v.
1 1 2 2 3

3
 ACCEPTED MANUSCRIPT

3. System Analysis

3.1. Stability Analysis of Fixed Points

In order to obtain fixed points, equations of model 8 should be placed to zero. By solving the corresponding
equations, when v = 0, model 8 has 12 fixed points as bellows:
P1∗ = (0, 0, 0, 0), P2∗ = (5, 0, 0, 0), P3∗ = (0, 12 , 0, 0), P4∗ = (1, 0, 54 , 0), P5∗ = (0, 1, −10, 0), P6∗ = (0, 0, wc3 , −1),
(w2 −2c)
P7∗ = ( 45 31 5 ∗ c
76 , 76 , 76 , 0), P8 = (0, w2 , 0, w2 ), P9∗ = ( wc1 , 0, 0, (5w5w1 −c)
1
),
∗ (c−20w3 ) (20w2 −30c) (c−w2 +10w3 ) ∗ (5c−10w3 ) (10w1 −6c) −(5w1 −5c+4w3 )
P10 = (0, (w , (w2 −30w3 ) , (w2 −30w3 ) ), P11 = ( (5w , 0, (5w , (5w1 −6w3 ) ),

T
2 −30w3 ) 1 −6w3 ) 1 −6w3 )
∗
P12 (135c−90w2 )
= ( (135w , (90w1 −59c+10w3 ) , (15c−10w2 )
1 −59w2 +15w3 ) (135w1 −59w2 +15w3 ) (135w1 −59w2 +15w3 )
, −(45w 1 −76c+31w2 +5w3 )
(135w1 −59w2 +15w3 ) ).

IP
In order to study the stability of the equilibrium points, Theorem 1 is given as below.

CR
Theorem 1. System 8 with v = 0 has at least six unstable fixed points.

Proof. The Jacobian of the system is: US

AN
 
M1 − 2x1 − x1 − x1
 
 
−0.3x2 M2 − 0.1x2 − x2 
J =

,
 (9)
 y y M3 −y 
M

 
w1 E w2 E w3 E M4
M1 = 1 − 0.4x1 − 2x2 − y − E,
ED

M2 = 1 − 4x2 − 0.1y − E − 0.3x1 ,

M3 = x1 + x2 − E − 1,
M4 = w1 x1 + w2 x2 + w3 y − c.
PT

Having solved the characteristic equation of fixed points, the stability of these points can be analyzed.
 
1 0 0 0
 
CE

 
0 1 0 0
|λA − J| = 0 , A =  
,

0 0 1 0
 
0 0 0 0
AC

|λA − J |p∗1 = c(λ − 1)2 (λ + 1),

(2λ+1)(c−5w1 )(λ+1)(λ−4)
|λA − J |p∗2 = 2 ,
λ(2λ+1)(λ+1)(2c−w2 )
|λA − J |p∗3 = 4 ,
2
−(50λ−31)(5λ +λ+4)(5w1 −5c+4w3 )
|λA − J |p∗4 = 1250 ,
|λA − J |p∗5 = (λ − 9)(c − w2 + 10w3 )(λ2 + 2λ − 1),
−c(c−2w3 +λw3 )(c−20w3 +10λw3 )
|λA − J |p∗6 = 10w32
,
3 2
−(11552λ +10792λ −77λ+279)(45w1 −76c+31w2 +5w3 )
|λA − J |p∗7 = 877952 ,

4
 ACCEPTED MANUSCRIPT

−λc(2c−w2 )(2w2 −3c+λw2 )

|λA − J |p∗8 = w22
,
−c(c−5w1 )∗(c+10λw1 )(10w1 −6c+5λw1 )
|λA − J |p∗9 = 250w13
,
(c−w2 +10w3 )(27c−18w2 −λw2 +30λw3 )(2cw2 +60cw3 −40w2 w3 −3c2 −λcw2 +30λcw3 )
|λA − J |p∗10 = (w2 −30w3 )3 ,
−(5w1 −5c+4w3 )(90w1 −59c+10w3 −50λw1 +60λw3 )(10cw1 +12cw3 −20w1 w3 −6c2 −5λcw1 +6λcw3 )
|λA − J |p∗11 = 10(5w1 −6w3 )3 ,
T1 T2
|λA − J |p∗12 = 2(135w1 −59w 2 +15w3 )
3,

T1 = 45w1 − 76c + 31w2 + 5w3 ,

T2 = −36450λ2 cw12 + 31860λ2 cw1 w2 − 8100λ2 cw1 w3 − 6962λ2 cw22 + 3540λ2 cw2 w3 − 450λ2 cw32 + 4050λc2 w1
− 1770λc2 w2 + 450λc2 w3 − 2700λcw1 w2 − 8100λcw1 w3 + 1180λcw22 + 3240λcw2 w3 − 900λcw32 + 5400λw1 w2 w3

T
− 2360λw22 w3 + 600λw2 w32 − 4779c3 + 7290c2 w1 + 6372c2 w2 + 810c2 w3 − 9720cw1 w2 − 2124cw22 − 1080cw2 w3

IP
+ 3240w1 w22 + 360w22 w3 .

CR
According to the following equations, the eigenvalues of P1∗ , P2∗ , P3∗ , P4∗ , P5∗ , P7∗ have at least one positive sign
irrespective of other parameters. The eigenvalues of P6∗ , P8∗ , P9∗ , P10
∗ ∗
, P11 ∗
, P12 depend on other parameters where

US
can be stable or unstable. So system 8 with v = 0 has at least six unstable fixed points.
AN
M
ED
PT
CE
AC

5
 ACCEPTED MANUSCRIPT

3.2. Singularity Induced Bifurcation Point

The following theorem studies the dynamic behavior of singular model system 7 around the interior equilib-
rium have been affected by different kinds of economic interests of harvesting and effect on intrinsic equilibrium.
Depending on the condition, continues nonlinear biological systems have a variety of behaviors including various
kinds of bifurcations and chaotic behaviors. If the singular model is applied to analyze the system particularly
kind of bifurcation, which is called singularity induced bifurcation, may occur in addition to the behaviors of
the systems. The singular system is assumed as follows:


T

ẋ(t) = f (x, y, λ),
(10)

IP

0 = g(x, y, λ),

where f : Rn × Rm × Rr → Rn , g : Rn × Rm × Rr → Rm are C 1 . Let (x∗ , y∗ , λ∗ ) be a point on the sub-manifold.

CR
S = {(x, y, λ) ∈ Rn × Rm × Rr : g(x, y, λ) = 0, det gy (x, y, λ) = 0} . (11)

US
If the point (x∗ , y∗ , λ∗ )does not match equilibrium point, it can be referred to impasse point. If the point
(x∗ , y∗ , λ∗ ) is an equilibrium point, then it is named SIB point [38, 39, 40].
Singularity induced bifurcation is one kind of instability of singular models. In order to calculate SIB points,
AN
the following equations are proposed.


 f (x, y, λ) = 0,



g(x, y, λ) = 0, (12)
M





det g (x, y, λ) = 0.
y

Definition 1.[39, 40] A point (x∗ , y∗ , λ∗ ) on the singular surface 11 satisfying f (x∗ , y∗ , λ∗ ) = 0 is called an SIB
ED

point of the system13.

PT

∗
Theorem 2. Singular model system 7has a SIB around the interior equilibrium point(P12 ), v = 0 is a bifurca-
tion value, and model system 7 is unstable around the interior equilibrium as v increases more than 0.
CE

Proof. Singular model system 7 can be established as follow:

AẊ(t) = G(x1 (t), x2 (t), y(t), E(t)), (13)

 
AC

1 0 0 0
 
 
0 1 0 0 
where X(t) = (x1 (t), x2 (t), y(t), E(t))T , A = 

,

0 0 1 0
 
0 0 0 0
 
x1 (t)(r1 − a11 x1 (t) − a12 x2 (t) − a13 y(t)) − E(t)x1 (t)
 
 
x2 (t)(r2 − a21 x1 (t) − a22 x2 (t) − a23 y(t)) − E(t)x2 (t)

and G(x1 (t), x2 (t), y(t), E(t)) =  .

 y(t)(−r3 + a31 x1 (t) + a32 x2 (t)) − E(t)y(t) 
 
E(t)(w1 x1 (t) + w2 x2 (t) + w3 y(t) − c) − v

6
 ACCEPTED MANUSCRIPT

Considering v equal to zero and G(x1 (t), x2 (t), y(t), E(t)) = 0, an interior equilibrium can be achieved for
bio-economic equilibrium, i.e.,P ∗ (x∗1 , x∗2 , y ∗ , E ∗ ), where

B3 −B2 B1 −B4
x∗1 = , x∗2 = , y∗ = , E∗ = ,
D D D D

B1 = −a12 a21 c + a11 a22 c − a12 a31 c + a22 a31 c + a11 a32 c − a21 a32 c − a22 r1 w1 − a32 r1 w1 + a12 r2 w1 + a32 r2 w1

+ a12 r3 w1 − a22 r3 w1 + a21 r1 w2 + a31 r1 w2 − a11 r2 w2 − a31 r2 w2 − a11 r3 w2 + a21 r3 w2 ,

T
B2 = −a13 a21 c + a11 a23 c − a13 a31 c + a23 a31 c − a23 r1 w1 + a13 r2 w1 + a13 r3 w1 − a23 r3 w1 + a21 r1 w3 + a31 r1 w3

IP
− a11 r2 w3 − a31 r2 w3 − a11 r3 w3 + a21 r3 w3 ,

B3 = −a13 a22 c + a12 a23 c − a13 a32 c + a23 a32 c − a23 r1 w2 + a13 r2 w2 + a13 r3 w2 − a23 r3 w2 + a22 r1 w3 + a32 r1 w3

CR
− a12 r2 w3 − a32 r2 w3 − a12 r3 w3 + a22 r3 w3 ,

B4 = a13 a22 a31 c − a12 a23 a31 c − a13 a21 a32 c + a11 a23 a32 c − a23 a32 r1 w1 + a13 a32 r2 w1 − a13 a22 r3 w1 + a12 a23 r3 w1

− a11 a32 r2 w3 − a12 a21 r3 w3 + a11 a22 r3 w3 , US

+ a23 a31 r1 w2 − a13 a31 r2 w2 + a13 a21 r3 w2 − a11 a23 r3 w2 − a22 a31 r1 w3 + a21 a32 r1 w3 + a12 a31 r2 w3

D = −a13 a22 w1 + a12 a23 w1 − a13 a32 w1 + a23 a32 w1 + a13 a21 w2 − a11 a23 w2 + a13 a31 w2 − a23 a31 w2 − a12 a21 w3
AN
+ a11 a22 w3 − a12 a31 w3 + a22 a31 w3 + a11 a32 w3 − a21 a32 w3 .
M
ED
PT
CE
AC

7
 ACCEPTED MANUSCRIPT

Since the state variables represent both the number of population and economic interest, (x1 , x2 , y, E > 0),
the following conditions must be met: 

B1 , B3 , D > 0,
(14)

B2 , B4 < 0.

Let v be a bifurcation parameter, U (t) = (x1 (t), x2 (t), y(t))T , and

 
x1 (t)(r1 − a11 x1 (t) − a12 x2 (t) − a13 y(t)) − E(t)x1 (t)
 
 
f (U (t), E(t), v) = x2 (t)(r2 − a21 x1 (t) − a22 x2 (t) − a23 y(t)) − E(t)x2 (t) , (15)

T
 
y(t)(−r3 (t) + a31 x1 (t) + a32 x2 (t)) − E(t)y(t)

IP
g(U (t), E(t), v) = E(t)(w1 x1 (t) + w2 x2 (t) + w3 y(t) − c) − v.

CR
After running a simple computation,


0, v=0
g(U (t), E(t), v) |p∗ = (16)

nonzero,

which implies dimker(DE g(U (t), E(t), v) |p∗ ) = 1. US v 6= 0

According to [39], as long as conditions (i) to (v) are satisfied, the system has a SIB around the interior
AN
equilibrium.
(i) f (U (0), E(0), 0) = 0 , g(U (0), E(0), 0) = 0 and DE g(U (t), E(t), v) |p∗ has an algebraically simple zero
eigenvalue.
 Furthermore,
 trace[DE f adj(DE g)DU g] |p∗ 6= 0,
M

DU f DE f
(ii)   is nonsingular at P ∗ ,
DU g DE g
 
ED

DU f DE f Dv f
 
 
(iii)  DU g DE g Dv g  is nonsingular at P ∗ ,
 
DU ∆ DE ∆ Dv ∆
 
PT

DU f D E f D v f
 
 
(iv) rank  DU g DE g Dv g =rank f (U (t), E(t), v)+ rank g(U (t), E(t), v) + 1,
 
CE

DU ∆ DE ∆ Dv ∆
 −1  
DU f DE f Dv f
(v) If M = −trace[DE f adj(DE g)DU g] |p∗ and N = [Dv ∆ − (DU ∆, DE ∆)    ] |p∗ ,
DU g DE g Dv g
AC

M
then N > 0.
To verify the conditions, the following relations should be calculated.
It is clear that f (U (0), E(0), 0) = 0 , g(U (0), E(0), 0) = 0 and ,

w3 M6 − w2 B2 + w1 B3
DE g(U (t), E(t), v) |p∗ = (w1 x1 + w2 x2 + w3 y − c) |p∗ = −c + = 0, (17)
D

c B4
trace[DE f adj(DE g)DU g] |p∗ = 6= 0, (18)
D

8
 ACCEPTED MANUSCRIPT

 
 
DU f DE f 
  |p∗ = M6 B2 B3 B4 6= 0, (19)
  D3
 DU g DE g 
 
 
 DU f DE f Dv f 
  M6 B 2 B 3
 
 DU g DE g Dv g  |p∗ = 6= 0, (20)
  D2
 
DU ∆ DE ∆ Dv ∆

−c B4

T
M = −trace[DE f adj(DE g)DU g] |p∗ = ,
D
 −1  

IP
DU f D E f D f
N = [Dv ∆ − (DU ∆, DE ∆)    v ] |p∗ = −D ,
DU g DE g Dv g B4

CR
M B4
= c ( )2 > 0. (21)
N D

P ∗.
US
Taking the17 -21 conditions into account, singular model system 7 has a SIB around the interior equilibrium

According to Theorem 3 in[39], model system 7 is unstable around the interior equilibrium as v increases through
AN
0 and one eigenvalue of a singular model system, moves from C − to C + along the real axis by diverging through
∞.
As it is mentioned in Theorem 3, model system 7 is unstable in the case of positive economic interest of
M

harvesting. Based on economic interest of harvesting, it should be limited within an interval mathematically,
which substantiates that all species are present in the harvested ecosystem.
ED
PT
CE
AC

9
 ACCEPTED MANUSCRIPT

4. Detection of Chaotic Behavior

In continuous chaotic systems, the trajectory of systems crosses between collections of saddle fixed points
and the collection of these fixed points are unstable [41]. If applying feedback stables one of the points, then
the trajectory of the continuous chaotic system is attracted to that point and the chaotic behavior of a system
will be controlled.
In order to analyze the chaotic behavior of system7, Lyapunov exponents method is used. In a given embedding
dimension, the Lyapunov exponent is a measure of the speed at which initially nearby trajectories of the

T
system diverge. For each individual dimension during the process, there is a Lyapunov exponent constituting

IP
the Lyapunov spectrum for the dynamical system. The Lyapunov exponent is related to predictability of the
system, and the largest Lyapunov exponent of a stable system does not exceed zero.

CR
The highest value for Lyapunov exponent can be defined as follows:

1 |δZt|
λ = lim lim ln (22)
t→∞ δZ0 →0 t |δZ0 |

US
The δZ0 → 0 shows the validity of the linear approximation at any time[42].
Nevertheless, a chaotic system has at least one positive Lyapunov exponent.[43, 44]
AN
The chaotic behavior of the system in terms of v = 0 or v 6= 0 based on the above-mentioned equation will be
shown in section 5.
M

5. State Feedback Control Design

∗
A state feedback controller is designed to stabilize model system 8 at the interior equilibrium P12 .
ED

The purpose of controlling the system is to eliminate singularity and chaotic behavior of the system. The
elimination of the SIB leads to the restoration of ecological balance by the prey-predator ecosystem.
As previously mentioned, E(t) is harvest effort and it is clear that the only available variable for controlling the
PT

population and at the same time economic benefits. By taking design of the feedback controller into account,
the biological interpretation of the feedback controller is evident as well, which means that by increasing the
harvest effort on the prey-predator species, both steady development of the prey-predator ecosystem and the
CE

ideal economic interest of harvesting can be achieved.

According to leading matrix A in model system 13 and JP12
∗ , it can be shown that
AC

2 3
rank (JP12
∗ , AJP ∗ , A JP ∗ , A JP ∗ ) = 4 and using Theorem 3-1.2 in [20], singular model system 8 is locally
12 12 12

∗
controllable at P12 .
∗
As result, a state feedback controller can be used to stabilize singular model system at P12 .
Therefore, by managing harvesting, stable conditions can be created in the ecosystem. A state feedback con-
∗ ∗ ∗
troller u(t) = k(E(t) − E12 )(k is a feedback gain and E12 is the component of the interior equilibrium P12 )can
be applied to stabilize model system 8.
A controlled singular model system is as follows:

10
 ACCEPTED MANUSCRIPT



 ẋ1 (t) = x1 (t)(1 − 0.2x1 (t) − 2x2 (t) − y(t)) − E(t)x1 (t),






ẋ2 (t) = x2 (t)(1 − 0.3x1 (t) − 2x2 (t) − 0.1y(t)) − E(t)x2 (t),
(23)



 ẏ(t) = y(t)(−1 + x1 (t) + x2 (t)) − E(t)y(t),




0 = E(t)(w x (t) + w x (t) + w y(t) − c) + k(E(t) − E ∗ ) − v.
1 1 2 2 3 12

Regarding model system 8, on the conditions that 14 is established, different values can be considered which
are as follows for w1 , w2 , w3 , c parameters.

T
w1 = 1, w2 = 1, w3 = 5, c = 2. (24)

IP
In the following theorem, using the Routh-Hurwitz criteria [25], the adequate and required conditions for stability

CR
of the singular model system are achieved. Then, using the Lyapunov stability analysis[45], it is shown that the
desired point is stable.

8.55 ≤ k ≤ 53.8 is locally stable at SIB point.

Proof. The Jacobian of the feedback system is as below:

US
Theorem 3. System23 including the parameters of w1 = 1, w2 = 1, w3 = 5, c = 2, v = 0.01 and
AN
 
M1 − 2x1 − x1 − x1
 
 
−0.3x2 M2 − 0.1x2 − x2 
J = ,
M

  (25)
 y y M3 −y 
 
w1 E w2 E w3 E M5
ED

M1 = 1 − 0.4x1 − 2x2 − y − E, M2 = 1 − 4x2 − 0.1y − E − 0.3x1 , M3 = x1 + x2 − E − 1,

M5 = k + w1 x1 + w2 x2 + w3 y − c.
∗
According to |λA − J| = 0, system characteristic equation at P12 is obtained as follows:
PT

∆1 λ3 + ∆2 λ2 + ∆3 λ + ∆4 = 0,

√
CE

k M6
∆1 = 0.33 − − ,
2 152
p p
∆2 = 0.67 − 0.4k + 0.25k 2 + 4 × 10−4 M6 + 3 × 10−3 k M6 ,
q
AC

p p p
∆3 = 0.18 − 0.23k + 0.25k 2 + 2.5 × 10−2 k 3 + 3 × 10−3 M6 − 2 × 10−3 k M6 + 8 × 10−6 k 2 M6 − 5 × 10−8 M63 ,
p p p
∆4 = −4 × 10−3 − 0.02k − 0.02k 2 + 0.01k 3 + 0.02k 4 − 4 × 10−4 M6 − 10−4 k M6 + 2 × 10−4 k 2 M6
p q q
− 8 × 10−5 k 3 M6 + 3 × 10−8 M63 − 4 × 10−8 k M63 ,

M6 = 5776k 2 + 7752k + 3060.

Using Routh-Hurwitz criteria and numerical calculations, the range of k factor can be obtained as follows:

8.55 ≤ k ≤ 53.8 ⇒ −0.04 < λ1 < 0, −0.04 < λ2 < 0, −0.43 < λ3 < −0.45.

11
 ACCEPTED MANUSCRIPT

∗
With those values(24), the P12 before applying the feedback is as follow:
∗
P12 = (1.19, 0.14, 0.13, 0.33).
The feedback system with above parameters is as bellows:


 ẋ1 (t) = x1 (t)(1 − 0.2x1 (t) − 2x2 (t) − y(t)) − E(t)x1 (t),






ẋ2 (t) = x2 (t)(1 − 0.3x1 (t) − 2x2 (t) − 0.1y(t)) − E(t)x2 (t),
(26)



 ẏ(t) = y(t)(−1 + x1 (t) + x2 (t)) − E(t)y(t),




0 = E(t)(x (t) + x (t) + 5y(t) − 2) + k(E(t) − 0.33) − 0.01.

T
1 2

IP
The SIB point of 26(after applying feedback) is as follow:

CR
Pˆ12
∗ = (xˆ∗ , xˆ∗ , yˆ∗ , E
1 1
ˆ∗ ) where,
√ √
9(2275−1140k+3 76501+193800k+144400k2 ) ˆ∗
xˆ∗1 = 22952
76501+193800k+144400k2
, x2 = 31765+22420k−59 114760 ,
√ √
, Eˆ∗ = 255−380k+ 76501+193800k+144400k
2 2
yˆ∗ = 2275−1140k+3 76501+193800k+144400k
22952 1510 .

US
Shifting the fixed point to origin, the model system 26 is as follows:

AN

 ẋ1 (t) = (x1 (t) + xˆ∗1 )(1 − 0.2(x1 (t) + xˆ∗1 ) − 2(x2 (t) + xˆ∗2 ) − (y(t) + yˆ∗ )) − (E(t) + Eˆ∗ )(x1 (t) + xˆ∗1 ),






ẋ2 (t) = (x2 (t) + xˆ∗ )(1 − 0.3(x1 (t) + xˆ∗ ) − 2(x2 (t)xˆ∗ ) − 0.1(y(t) + yˆ∗ )) − (E(t) + Eˆ∗ )(x2 (t) + xˆ∗ ),
2 1 2 2
(27)


 ẏ(t) = (y(t) + yˆ∗ )(−1 + (x1 (t) + xˆ∗1 ) + (x2 (t) + xˆ∗2 )) − (E(t) + Eˆ∗ )(y(t) + yˆ∗ ),
M






0 = (E(t) + Eˆ∗ )(x (t) + xˆ∗ + x (t) + xˆ∗ + 5(y(t) + yˆ∗ ) − 2) + k(E(t) + Eˆ∗ − 0.33) − 0.01.
1 2
1 2
ED

According to basic Lyapunov theorems for autonomous systems, if the Lyapunov-candidate-function V is locally
positive definite and the time derivative of the Lyapunov-candidate-function is locally negative semidefinite:

V̇ (x) < 0 ∀x ∈ B \ {0}

PT

in some neighborhood B of 0, then the equilibrium is proven to be locally asymptotically stable [45].
Lyapunov function for the system is defined as below:
CE

V (x1 , x2 , y) = x21 + x22 + y 2 , where V (0, 0, 0) = 0.

V̇ (x1 , x2 , y) = 2x1 ẋ1 + 2x2 ẋ2 + 2y ẏ
AC

= α1 x1 + α2 x21 − 0.4x31 − 0.6x1 x22 − 4x32 − 2x21 y − 0.2x22 y − 2x1 y 2 − 2x2 y 2 − 4x21 x2 + α3 x2 + α4 x1 x2 + α5 x22
+ α6 x1 y + α7 x2 y + α8 y 2 + α9 y.
where
−11kM8 −11k2 M8 −13M7 M8 −13kM7 M8 +0.3k2 −1.18×10−4 M7 −0.02−0.6k−4×10−3 kM7
α1 = M8 ,
−3
−0.35M8 +0.18kM8 −2.35×10 M7 M8 −0.02−0.67k
α2 = M8 ,
−11M8 −12kM8 −12k2 M8 −13M7 M8 −14kM7 M8 +5.1×10−5 M7 −5.5×10−3 −0.2k−0.1k2 +1.7×10−3 kM7
α3 = M8 ,
α4 = −3.7 + 1.6k − 0.02M7 ,
−1.1M8 −0.8kM8 +0.01M7 M8 −0.02−0.67k
α5 = M8 ,

12
 ACCEPTED MANUSCRIPT

α6 = −1.6 + 0.8k − 0.01M7 ,

α7 = 0.1 − 0.1k − 1.8 × 10−3 M7 ,
α8 = − 10M8 +0.02+0.67k
M8 ,
−11M8 −12kM8 −13M7 M8 −2×10−3 −6.6×10−2 k+3.3×10−2 k2 −1.3×10−5 M7 −4.4×10−4 kM7
α9 = M8 ,
√
M7 = 3066 + 7755k + 5788k 2 ,
M8 = −2 + k + x1 + x2 + 5y.
According to the range of k coefficient (8.55 ≤ k ≤ 53.8), the following results are obtained.

T
− 2.9 × 106 < α1 < −88024.7,

IP
− 1.1 < α2 < −0.4,

− 3.2 × 106 < α3 < −94116.2,

CR
− 4.05 < α4 < −0.5,

− 3.4 < α5 < −0.9,

US
− 1.77 < α6 < −6.8 × 10−4 ,

− 12.7 < α7 < −2,

AN
− 10.8 < α8 < −10,

− 54529.5 < α9 < −9236.6.

As it is mentioned before, according to x1 , x2 , y > 0, the system is locally stable at SIB point (V̇ (x1 , x2 , y) < 0).
M
ED
PT
CE
AC

13
 ACCEPTED MANUSCRIPT

6. Results and Numerical Simulations

The simulation results will be shown both with and without feedback system with parameters 24.
2D and 3D portraits of X1 , X2 and X3 states and the Lyapunov exponent curves will be shown. The fixed
points are shown with red circles. Eventually, for the range of different values, k coefficient ranges are shown.

6.1. The System Without Feedback

The SIB point eigenvalues of the system can be achieved as below:

T
|λ · A − JP12
∗ | = 0,

IP
where J is the Jacobian matrix of the system 7 and A is the matrix introduced in 13. So the eigenvalues of the

CR
system are:



λ1 = −0.5835 , λ2 = 0.0588 , λ3 = −20.4, v = −0.01,

US
λ1 = −0.5835 , λ2 = 0.0588 , λ3 = 25.1512,
when

when v = 0.01.

According to Theorem 3 in[39], model system 7 is unstable around the interior equilibrium as v increases through
AN
0 and one eigenvalue of a singular model system (λ3 ), moves from C − to C + along the real axis by diverging
through ∞.
2D and 3D portraits of X1 , X2 and X3 states for both v = 0 and v 6= 0 are shown in Fig.1 and Fig.2, respectively.
M

In both cases (v = 0 and v 6= 0), the behavior is chaotic. When v = 0 the system has only chaotic behavior and
when v 6= 0, the system demonstrates rapid continuous rising and falling trends.
ED

The Lyapunov exponent curves are shown in Fig3. Using 22 and in fig 3(a)(before applying feedback), λ1 is
positive and the system has chaotic behavior[43, 44].
PT

6.2. The System With Feedback

As it was shown in the previous section, the purpose of applying feedback system, was to stabilize the selected
CE

∗ ∗
point(P12 ). In Fig.4, the behavior system is shown after applying feedback. In this case P12 is stabilized and
the trajectory of the system is attracted to it.
Using 22 and in fig 3(b)(after applying feedback), λ1 , λ2 and λ3 converges to a negative number and so the
AC

chaotic behavior of the system is controlled[43, 44].

In fact, not only the SIB around the interior equilibrium point is eliminated but also the chaotic behavior system
is controlled.
Using the Routh-Hurwitz criteria, different ranges of k for different permissible values of v, w1 , w2 , w3 , c, are
shown in Table 1.

14
 ACCEPTED MANUSCRIPT

T
IP
CR
(a) Time responses of X1 , X2 and X3 states.

US
AN
M
ED

(b) 3D portraits of X1 , X2 and X3 states. (c) 2D portraits of X1 and X2 states.

PT
CE
AC

(d) 2D portraits of X2 and X3 states. (e) 2D portraits of X1 and X3 states.

Figure 1: The behavior of system 8 with parameters w1 = 1, w2 = 1, w3 = 5, c = 2, v = 0.

15
 ACCEPTED MANUSCRIPT

T
IP
CR
(a) Time responses of X1 , X2 and X3 states.

US
AN
M
ED

(b) 3D portraits of X1 , X2 and X3 states. (c) 2D portraits of X1 and X2 states.

PT
CE
AC

(d) 2D portraits of X2 and X3 states. (e) 2D portraits of X1 and X3 states.

Figure 2: The behavior of system 8 with parameters w1 = 1, w2 = 1, w3 = 5, c = 2, v = 0.01.

16
 ACCEPTED MANUSCRIPT

T
IP
CR
US
AN
(a) Lyapunov exponents of system 8
M
ED
PT
CE
AC

(b) Lyapunov exponents of system 23

Figure 3: Lyapunov exponents of the models using relation 22

17
 ACCEPTED MANUSCRIPT

T
IP
CR
US
(a) Time responses of X1 , X2 and X3 states.
AN
M
ED
PT

(b) 3D portraits of X1 , X2 and X3 states. (c) 2D portraits of X1 and X3 states.

Figure 4: The behavior of system 26 with parameters w1 = 1, w2 = 1, w3 = 5, c = 2, v = 0.01, k = 10.

CE
AC

Table 1: Different ranges of k for the allowed values of the parameters.

w1 = 1 w2 = 1 w3 = 5 c=2 v = 0.01 8.55 ≤ k ≤ 53.8
w1 = 1 w2 = 1 w3 = 5 c=2 v = 0.1 8.2 ≤ k ≤ 51.3
w1 = 2 w2 = 2 w3 = 10 c=4 v = 0.01 17.2 ≤ k ≤ 43.8
w1 = 2 w2 = 2 w3 = 10 c=4 v = 0.1 16.8 ≤ k ≤ 38.6
w1 = 4 w2 = 4 w3 = 24 c = 10 v = 0.01 20.4 ≤ k ≤ 44.3
w1 = 4 w2 = 4 w3 = 24 c = 10 v = 0.1 19.9 ≤ k ≤ 39.7

18
 ACCEPTED MANUSCRIPT

7. Conclusion

It is obvious that harvesting can strongly affect the dynamic evolution of a population. Recently, the
biological resources in the prey-predator ecosystem are commonly harvested in order to obtain economic interest,
which propels the necessity of harvesting in the prey-predator models. Compared with the previous related
studies [3, 4, 5, 6, 8, 18, 10, 19, 11], more comprehensive harvested singular prey-predator model was proposed.
The present study mainly focused on the further analysis of the variation of population density with the change
of economic interest of harvesting, which extends the previous works. Further to the point, in comparison with

T
differential models proposed in [3, 19, 18], the advantage of the proposed singular model is that it shows the

IP
effect of human intervention on all the species in the model, which to best knowledge of the researcher, other
studies have investigated the effect of this intervention on only one species. By the same token, a state feedback

CR
controller is designed inspired by E(t) to stabilize the singular model system around the interior equilibrium,
which made it possible to avoid the extinction of species after the intervention of human beings for harvesting
them.

References US
AN
[1] D. M. Dubois, A model of patchiness for preypredator plankton populations, Ecological Modelling 1 (1975)
67–80.

[2] L. Zhang, J. Liu, M. Banerjee, Hopf and steady state bifurcation analysis in a ratio-dependent predator–
M

prey model, Communications in Nonlinear Science and Numerical Simulation 44 (2017) 52–73.

[3] C. Azar, J. Holmberg, K. Lindgren, Stability analysis of harvesting in a predator-prey model, Journal of
ED

Theoretical Biology 174 (1995) 13–19.

[4] M. Costa, E. Kaszkurewicz, A. Bhaya, L. Hsu, Achieving global convergence to an equilibrium population
PT

in predator–prey systems by the use of a discontinuous harvesting policy, Ecological Modelling 128 (2000)
89–99.
CE

[5] G. Dai, M. Tang, Coexistence region and global dynamics of a harvested predator-prey system, SIAM
Journal on Applied Mathematics 58 (1998) 193–210.
AC

[6] H. J. Edwards, C. Dytham, J. W. Pitchford, D. Righton, Prey selection, vertical migrations and the impacts
of harvesting upon the population dynamics of a predator-prey system, Bulletin of mathematical biology
69 (2007) 1827–1846.

[7] R. Gupta, P. Chandra, Dynamical properties of a prey-predator-scavenger model with quadratic harvesting,
Communications in Nonlinear Science and Numerical Simulation 49 (2017) 202–214.

[8] S. Gakkhar, B. Singh, The dynamics of a food web consisting of two preys and a harvesting predator,
Chaos, Solitons & Fractals 34 (2007) 1346–1356.

19
 ACCEPTED MANUSCRIPT

[9] T. Kar, H. Matsuda, Controllability of a harvested prey-predator system with time delay, Journal of
Biological Systems 14 (2006) 243–254.

[10] B. Liu, Y. Zhang, L. Chen, Dynamic complexities in a lotka–volterra predator–prey model concerning
impulsive control strategy, International Journal of Bifurcation and Chaos 15 (2005) 517–531.

[11] A. Martin, S. Ruan, Predator-prey models with delay and prey harvesting, Journal of Mathematical
Biology 43 (2001) 247–267.

T
[12] H. Zhang, P. Georgescu, L. Chen, An impulsive predator-prey system with beddington–deangelis functional

IP
response and time delay, International Journal of Biomathematics 1 (2008) 1–17.

[13] X. Zhang, Q.-l. Zhang, Y. Zhang, Bifurcations of a class of singular biological economic models, Chaos,

CR
Solitons & Fractals 40 (2009) 1309–1318.

[14] C. Liu, Q. Zhang, Y. Zhang, X. Duan, Bifurcation and control in a differential-algebraic harvested prey-

US
predator model with stage structure for predator, International Journal of Bifurcation and Chaos 18 (2008)
3159–3168.
AN
[15] Y. Zhang, Q.-l. Zhang, Chaotic control based on descriptor bioeconomic systems, Control and Decision 22
(2007) 445.

[16] W. Zuo, D. Jiang, Stationary distribution and periodic solution for stochastic predator-prey systems with
M

nonlinear predator harvesting, Communications in Nonlinear Science and Numerical Simulation 36 (2016)
65–80.
ED

[17] R. Gupta, M. Banerjee, P. Chandra, Period doubling cascades of prey–predator model with nonlinear
harvesting and control of over exploitation through taxation, Communications in Nonlinear Science and
Numerical Simulation 19 (2014) 2382–2405.
PT

[18] S. Kumar, S. Srivastava, P. Chingakham, Hopf bifurcation and stability analysis in a harvested one-
predator–two-prey model, Applied mathematics and computation 129 (2002) 107–118.
CE

[19] Z. Liu, R. Yuan, Stability and bifurcation in a harvested one-predator–two-prey model with delays, Chaos,
Solitons & Fractals 27 (2006) 1395–1407.
AC

[20] L. Dai, Strong decoupling in singular systems, Theory of Computing Systems 22 (1989) 275–289.

[21] M. Mirmomeni, E. Kamaliha, M. Shafiee, C. Lucas, Long-term prediction of solar and geomagnetic activity
daily time series using singular spectrum analysis and fuzzy descriptor models, Earth, planets and space
61 (2009) 1089–1101.

[22] H. Kitano, et al., Foundations of systems biology, MIT press Cambridge, 2001.

[23] J. Hofbauer, K. Sigmund, Evolutionary games and population dynamics, Cambridge university press, 1998.

20
 ACCEPTED MANUSCRIPT

[24] P. S. Agutter, Review of” systems biology in practice” by edda klipp, ralf hertwig, axel kowald, christoph
wierling and hans lehrach, 2005.

[25] M. Kot, Elements of mathematical ecology, Cambridge University Press, 2001.

[26] D. G. Luenberger, Non-linear descriptor systems, Journal of Economic Dynamics and Control 1 (1979)
219–242.

[27] D. G. Luenberger, A. Arbel, Singular dynamic leontief systems, Econometrica: Journal of the Econometric

T
Society (1977) 991–995.

IP
[28] R. Wang, T. Zhou, D. Hu, F. Li, J. Liu, Cultivating eco-sustainability: social–economic–natural complex
ecosystem case studies in china, Ecological complexity 8 (2011) 273–283.

CR
[29] Q. Zhang, C. Liu, X. Zhang, Complexity, analysis and control of singular biological systems, volume 421,
Springer Science & Business Media, 2012.

US
[30] M. S. Silva, T. P. de Lima, Looking for nonnegative solutions of a leontief dynamic model, Linear algebra
and its applications 364 (2003) 281–316.
AN
[31] A. Kumar, P. Daoutidis, Control of nonlinear differential algebraic equation systems with applications to
chemical processes, volume 397, CRC Press, 1999.

[32] S. Ayasun, C. O. Nwankpa, H. G. Kwatny, Computation of singular and singularity induced bifurcation
M

points of differential-algebraic power system model, IEEE Transactions on Circuits and Systems I: Regular
Papers 51 (2004) 1525–1538.
ED

[33] W. Marszalek, Z. W. Trzaska, Singularity-induced bifurcations in electrical power systems, IEEE Trans-
actions on Power Systems 20 (2005) 312–320.
PT

[34] M. Yue, R. Schlueter, Bifurcation subsystem and its application in power system analysis, IEEE Transac-
tions on Power Systems 19 (2004) 1885–1893.
CE

[35] M. Mirmomeni, M. Shafiee, C. Lucas, B. N. Araabi, Introducing a new learning method for fuzzy descriptor
systems with the aid of spectral analysis to forecast solar activity, Journal of Atmospheric and Solar-
Terrestrial Physics 68 (2006) 2061–2074.
AC

[36] H. S. Gordon, The economic theory of a common-property resource: the fishery, Journal of political
economy 62 (1954) 124–142.

[37] A. Klebanoff, A. Hastings, Chaos in one-predator, two-prey models: cgeneral results from bifurcation
theory, Mathematical biosciences 122 (1994) 221–233.

[38] V. Venkatasubramanian, Singularity induced bifurcation and the van der pol oscillator, IEEE Transactions
on Circuits and Systems I: Fundamental Theory and Applications 41 (1994) 765–769.

21
 ACCEPTED MANUSCRIPT

[39] V. Venkatasubramanian, H. Schattler, J. Zaborszky, Local bifurcations and feasibility regions in differential-
algebraic systems, IEEE Transactions on Automatic Control 40 (1995) 1992–2013.

[40] Y. Lijun, T. Yun, An improved version of the singularity-induced bifurcation theorem, IEEE Transactions
on Automatic Control 46 (2001) 1483–1486.

[41] R. C. Hilborn, S. Coppersmith, A. J. Mallinckrodt, S. McKay, et al., Chaos and nonlinear dynamics: an
introduction for scientists and engineers, Computers in Physics 8 (1994) 689–689.

T
[42] A. Vulpiani, Chaos: from simple models to complex systems, volume 17, World Scientific, 2010.

IP
[43] G. Boeing, Visual analysis of nonlinear dynamical systems: Chaos, fractals, self-similarity and the limits
of prediction, Systems 4 (2016) 37.

CR
[44] N. Kuznetsov, The lyapunov dimension and its estimation via the leonov method, Physics Letters A 380
(2016) 2142–2149.

US
[45] B. Aloliwi, H. K. Khalil, Robust adaptive output feedback control of nonlinear systems without persistence
of excitation, Automatica 33 (1997) 2025–2032.
AN
M
ED
PT
CE
AC

22