Nonlinear Dynamics

Multiple attractors and Strange nonchaotic dynamical behavior in a periodically forced

system
--Manuscript Draft--

Manuscript Number: NODY-D-20-02496

Full Title: Multiple attractors and Strange nonchaotic dynamical behavior in a periodically forced
system

Article Type: Original Research

Keywords: Route to chaos; coexistence of multiple attractors; three-tori; SNA behavior

Corresponding Author: Raja Mohamed I, Ph.D

B.S Abdur Rahman crescent institute of science and technology
INDIA

Corresponding Author Secondary

Information:

Corresponding Author's Institution: B.S Abdur Rahman crescent institute of science and technology

Corresponding Author's Secondary

Institution:

First Author: Chithra A

First Author Secondary Information:

Order of Authors: Chithra A

Raja Mohamed I, Ph.D

Order of Authors Secondary Information:

Funding Information: Science and Engineering Research Board Dr Raja Mohamed I

(SR/S2/HEP-042/2012)

Abstract: This work investigates the dynamical behavior of third-order chaotic system with
threshold controller as nonlinear element. The system is studied under presence /
absence of external excitation. For autonomous case, the system possesses
interesting transition of period-3 doubling to chaos, three tori to chaos is observed
when the parameters are varied for specific range. By tuning the system parameters
coexistence of multiple attractors are discovered. In our study, we uncover a dynamic
phenomenon in which strange nonchaotic attractor (SNA) is observed through
intermittency route under a single periodic force. The characteristics of SNA behaviors
are described by dynamical

invariant such as Lyapunov exponent, spectral distribution, Poincar mapping and 0 - 1

test analysis. The performance of the circuit is investigated by means of fixedpoint
analysis, numerical integration of mathematical

model and real time experimental results.

Order of Authors (with Contributor Roles): Chithra A (Investigation: Lead; Writing – review & editing: Lead)

Raja Mohamed I, Ph.D (Supervision: Lead)

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Multiple attractors and Strange nonchaotic dynamical
behavior in a periodically forced system
A. Chithra · I. Raja Mohamed
Received: date / Accepted: date
Abstract This work investigates the dynamical behav-
ior of third-order chaotic system with threshold con-
troller as nonlinear element. The system is studied un-
der presence / absence of external excitation. For au-
tonomous case, the system possesses interesting transi-
tion of period-3 doubling to chaos, three tori to chaos
is observed when the parameters are varied for specific
range. By tuning the system parameters coexistence of
multiple attractors are discovered. In our study, we un-
cover a dynamic phenomenon in which strange non-
chaotic attractor (SNA) is observed through intermit-
tency route under a single periodic force. The charac-
teristics of SNA behaviors are described by dynamical
invariant such as Lyapunov exponent, spectral distribu-
tion, Poincare mapping and 0−1 test analysis. The per-
formance of the circuit is investigated by means of fixed-
point analysis, numerical integration of mathematical
model and real time experimental results.
Keywords route to chaos · coexistence of multiple
attractors · three tori · SNA behavior
1 Introduction
Despite decades of research, chaotic circuit contin-
ues to hinder the design of simple system and known
to exhibit complex dynamical behaviors in nonlinear
dynamical systems [1–3]. Owing to the broad-band na-
ture, noise like spectrum chaotic signals are useful in the
A.Chithra · I. Raja Mohamed ( )
Department of Physics
B.S Abdur Rahman Crescent Institute of Science and Tech-
nology
Chennai, India
E-mail: irajamd.phy@gmail.com,
rajamohamed@crescent.education
E-mail: chithras787@gmail.com
Click here to download Manuscript A manuscript.pdf
various engineering application which includes image
encryption, cryptography, random bit generator, chaos-
based secure communication, stochastic networks, chaos
control (just to name a few) [4–6]. In which the chaos-
based secure communication turns out as prominent ap-
plication of chaotic signal, whereas the complex chaotic
system plays important role of high-level security [4,
8, 9]. Among the various chaotic generators, the pres-
ence of chaotic and quasiperiodic regime in the sys-
tems are chosen for this kind of application. In order
to exhibit complex strange attractors nonautonomous
dynamical systems have more complicated behaviors
compared with autonomous systems, because the vec-
tor field for non-autonomous systems are time varying
[2, 7]. The quasiperiodic self-oscillations exhibit more
complex regular oscillations in low dimensional nonau-
tonomous systems. In the work of Landau and Hopf,
the transition to turbulence via the birth of superim-
posed modes with incommensurate frequencies has been
investigated for better understanding of quasiperiodic
motions [10–12]. In connection to this, torus breakdown
to chaos by Inba and Mori using second order nonau-
tonomous LCR circuit with diode is the best example of
low dimensional nonautonomous electronic circuit [13].
Later on, many works [14–17] have been reported by re-
placing or altering the nonlinearities, showed the tran-
sition of quasiperiodic to chaos attractors in electronic
circuits. In this present work, chaotic system is investi-
gated under two modes viz with and without periodic
forcing. For autonomous case (absence of external pe-
riodic force) the system reveals period-3 doubling to
chaos and three tori to chaos. Mostly, three-tori attrac-
tors are reported in high dimensional nonlinear system
or via ring circuits respectively [17, 18]. This system
also exhibits coexistence of multiple attractors for spe-
2 A. Chithra, I. Raja Mohamed
cific parameter values.
In general, when a control parameter in the system
is slowly varying, the resulting phenomena can be stud-
ied through dynamic bifurcations [19,20]. Recently, new
effects such as slow-fast bifurcation, delay bifurcation
activity and Neimark sacker bifurcation (just to name
few) appear in such systems with fixed points, coexis-
tence of multiple attractors and chaotic attractors. A
lot of attention has recently been paid on multistable
systems which exposes infinitely many attractors or ex-
hibits hidden attractors [21–25]. Also, this kind of at-
tractors have been reported in nonlinear dynamics and
many works reported that multiple attractors could be
used as source of unpredictability, also finds great im-
portance in communications. The multiple attractors
and multistability has been reported recently in several
memristor based chaotic oscillators [26]. Though the lit-
erature provides multiple coexisting attractors in asym-
metric nonlinear systems, such kind of phenomena are
presented here in symmetric autonomous chaotic sys-
tem with threshold controller as nonlinear element. We
discuss what happens to the system and particularly
in presence of single periodic forcing (nonautonomous
system).
Very recently, strange nonchaotic attractor has been
reported in self-excited thermoacoustic oscillator with
periodic forcing [27]. In general, quasiperiodic forcing is
required to produce SNAs, however this work showed
that SNA behaviors can also emerge with single peri-
odic forcing. The concept of SNAs was introduced by
Grebogi et al in 1984 and these attractors are unique
[28], they exhibit the combined dynamics of order and
chaos. SNAs typical behaviour which resembles chaotic
attractor like features such as fractal in dimension and
non-differentiability (strangeness) with no exponential
sensitivity to initial conditions i.e. Lyapunov exponent
is non-positive or zero. The occurrence of SNA behav-
ior in nonlinear dynamical systems is through loss of
transverse stability of torus. However, in the litera-
ture the existence of SNAs have been investigated nu-
merically by several authors and also experimentally
demonstrated by very few authors [29–34]. In all the
above works, the experimental studies on SNAs were
mostly investigated on LCR circuits using either Chuas
diode or negative conductance with p-n junction diode
as nonlinear element and these studies explored differ-
ent routes to SNA [34–38]. In all of these examples,
quasiperiodic forcing was essential or required to pro-
duce SNAs. Moreover, to some context Anishchenko et
al. [39] demonstrated the realization of SNAs in au-
tonomous and periodically forced map but later, Pikovsky
et al. [40] have proven that was a chaotic attractor with
a positive largest Lyapunov exponent. Further progress
in experimental and numerical analysis based on this
problem, have been developed in 20th century. In this
area, works by Shuai, Wong and Zhong Liu et al. have
high significance [41–43]. In this present work, we stud-
ied the impact of periodic forcing on chaotic dynam-
ics displayed by a simple system that exhibits an un-
expected behavior, strange nonchaotic attractor. The
SNA to chaos transition has been verified by examining
the Lyapunov exponent, power-law scaling in Fourier
amplitude spectrum, 0−1 test and autocorrelation func-
tion.
The primary motivation of this work to propose a
rigorous mathematical model that can be exploited to
produce more complex dynamical behaviors. Further-
more, to the best of author’s knowledge, the literature
lacks in design of particular type of this oscillator which
explores some striking and rare behaviors (e.g. period-
3 doubling, coexistence of attractors, three-tori, chaos
and SNAs) using threshold controller as nonlinear el-
ement. The circuit model is consist of low cost avail-
able electronic circuit components, constructed with
RC based inductor free analog electronic circuit is suit-
able for integrated circuit techniques. The main out-
come of work is revealed by slowly changing the bifur-
cation parameter, one can observe three different routes
to chaos (for absence of periodic forcing). When the
system is subjected to single periodic force, unexpected
rare phenomena SNA behavior were observed through
varying the amplitude of periodic force.
The paper is organized as follows. In Sect. 2 we de-
scribe the third order chaotic circuit and its mathemat-
ical model is derived which describe the dynamics of the
system. The possibility presence of chaotic attractor is
studied through stability analysis. Sect. 3 deals with
numerical investigation of autonomous system. The bi-
furcation diagram showing the different routes to chaos,
the occurrence of coexistence of multiple attractors and
three-tori attractors is revealed. Phase portraits and
corresponding power spectrum, Poincare section are de-
picted to confirm the bifurcation structure. The whole
dynamics in the system is studied when varying the bi-
furcation parameter and the Lyapunov exponent matched
well. Experimental results of autonomous system are
presented in Sect. 4. The occurrence of strange non-
chaotic attractors when subjected to single periodic
force with prominent numerical results such as Poincare
mapping, Lyapunov exponent, singular-continuous spec-
trum and so on are discussed in Sect. 5. Experimen-
tal results of phase portrait and corresponding power
Multiple attractors and Strange nonchaotic dynamical behavior in a periodically forced system 3

spectrum are depicted in Sect.6. Conclusion and further
work are given in Sect. 7.
2 Circuit realization and analysis of the model
case (f 6= 0), the typical transition to SNAs have also
been observed. In our model in (1 − 3), four parameters
are involved and one of them will be the bifurcation pa-
rameter. The constant and parameter values that give
rise to strange attractor are normalized as

This section describe the circuit diagram in Sect. C1 = C2 = C3 = C, R3 = R12 = R18 = R,

2.1. Then we solved the state equations which are in
V2 = x, V5 = y, V8 = z, RCt = τ
terms of the circuit variables by using appropriate rescaled
variables. The circuit equations are transformed into R11 R11 R17 R17
= a, = b, = c, =d
normalized equations for a convenient numerical anal- R7 R8 R15 R16
ysis is given in Sect.2.2. The stability analysis of the
Consequently, we obtain the following set of normal-
model and nature of its equilibrium point is presented
ized differential equation from the non-dimensional set
in Sect.2.3.
of circuit equation (5) suitable for numerical analysis:

2.1 Circuit description

ẋ = z;
The third-order chaotic oscillator is shown in Fig.1 ẏ = aG(x) − bx − y − z + f sin(ωt); (4)
which consists of resistors, capacitors, diodes and op- ż = cy − dx
erational amplifiers (µA741). The implementation in-
volves three successive integrators, summing amplifiers
 ∗
are coupled with threshold controller. A PN junction x if x > x∗
diode (D1 and D2 ) is provided with constant bias volt- G(x) = x if − x∗ ≤ x ≤ +x∗
 ∗
age (B1 and B2 ).The working principle of this nonlinear −x if x < −x∗
element is whenever the voltage across capacitor (V2 )
exceeds bias voltage B1,2 = ±0.8V , the control will be where a, b, c and d are the constant terms, x, y and
triggered to maintain the fixed voltage level. This re- z are the state variables of the system and G(x) is the
veals that the nonlinear element is responsible for the only source of nonlinearity in the system. The only one
entire dynamics in the circuit. The operational ampli- state variable is monitored and the clipping of the sig-
fier is powered using ±15V DC power supply. nal with respect to threshold value [44–46]. Also note
that all the state variable are real and may be mea-
sured in real experiment using oscilloscope (sec.4). In
2.2 State equation mathematical model, the corresponding dimensionless
parameters are used for numerical analysis, for which
The state equation of the system is obtained by ap- the chaos can actually be observed thereby making the
plying Kirchhoffs current and voltage law to the circuit system more tractable.
which provides the set of three coupled first order dif-
ferential equation as follows,
dV2 R2 2.3 Stability analysis
R3 C1 = V8 (1)
dτ R1
This section is devoted to find the equilibrium points
dV5 R11 R11 R6 and to investigate the linear stability of the system de-
R12 C2 = G(V2 ) + V2 fined by the system (4). The nonlinear term in the (4)
dτ R7 R8 R4
indicates the three sub-regions for phase space (D0 , D+
R11 R14 R11 R20
+ V5 + V8 + F (τ ) (2) and D− ). Each of these sub-regions, has an equilibrium
R9 R13 R10 R19
point which is defined as P0 , P+ and P− respectively.
dV8 R2 R17 R6 Generally, the left side of the dynamical equation equals
R18 C3 = V5 + V2 (3)
dτ R15 R16 R4 to zero to determine the equilibrium points that is,
Here V2 , V5 and V8 denotes the voltage across the ca-
pacitor (C1 , C2 , C3 ) respectively. F (τ )=f sin(ωt) where
f, ω are the amplitude and frequency of the applied Z=0
force respectively. We investigate the complex dynam- ax − bx − y − z = 0, (5)
ics both in autonomous (f = 0) and non-autonomous cy − dx = 0
4 A. Chithra, I. Raja Mohamed

Fig. 1 Circuit diagram of third order autonomous system using threshold nonlinearity. The circuit component values are fixed
as C1 = C2 = C3 = 10nF , R1 = R2 = R4 = R6 = 100kΩ, R9 = R10 = R11 = R13 = 100kΩ, R14 = R17 = R19 = R20 =
100kΩ, R5 = 1kΩ, R7 = 10kΩ, R8 = 28.44kΩ, R1 6 = 46.4kΩ, R3 = R12 = R18 = 10kΩ, and R15 as a control parameter
with F (t) = 0.

the three sub-regions can be defined as Where a = 10, b = 3.52, the eigen values for the λ0
region with parametric values are obtained as
D+ = (x, y, z)|x > x∗
D0 = (x, y, z)|−x ≤ x ≤ x∗ (6)
∗ λ1,2,3 = (1.18985, −1.095 ± i ∗ 1.8457)
D− = (x, y, z)|x > −x

The equilibrium points of three regions are expressed Case 2: D± region

as The above obtained eigen value reveals that (x(0), y(0), z(0)) =
hc i 0. D0 which is an unstable spiral. Similarly, for the outer
P+ = (ax∗ − bx), (ax∗ − bx, 0 region D± the Jacobian matrix is as follows
d
P0 = [0, 0, 0] (7)  
h c i 0−λ 0 1
P− = − (ax∗ + bx), −(ax∗ + bx, 0 λ± =  −1 −1 − λ −1  (9)
d
−1 1 0−λ
As the dynamical equation is symmetric above the ori-
gin, it is invariant under transformation D± in the ex- for α = 7.5, the eigen values of λ± region is given
ternal sub-regions. To Jacobian matrix of the system as
(4), is obtained as follows
Case 1: D0 region λ1,2,3 = (2.2695, −0.6347 ± i ∗ 0.69160)
The Jacobian matrix is given as
The eigen values are complex conjugate and the equi-
librium point in D± region is unstable spiral focus. This
 
0−λ 0 1
λ0 =  a − b −1 − λ −1  (8) shows that the system (4) admits strange and multiple
−1 1 0−λ attractors.
Multiple attractors and Strange nonchaotic dynamical behavior in a periodically forced system 5

Fig. 2 Numerically generated route to chaos via period-doubling and three-tori breakdown: (a) Left side represents the phase
portrait and (b) right side corresponding power spectrum. (i) Limit cycle for c = 0.68, (ii) Period-2 attractor for c = 0.82,
(iii) Periodic-24T for c = 0.99, (iv) one-band chaos for c = 1.05, (v) Chaos for c = 1.80, (vi) 3-tori for c = 6.05, (vii) Chaos
for c = 6.05

3 Numerical analysis

The rescaled dynamical equation (4) is numerically

simulated using Runge-kutta fourth order algorithm.
The complex strange dynamical behavior and different
routes to chaos have been witnessed using parameters
of the system which are defined as a = 10, b = 3.52,
d = 2.162 and c is preferred as the bifurcation param-
eter. For each and every tiny changes made in bifurca-
tion parameter explores three different routes to chaos,
emergence of multiple attractors and three-tori respec-
tively.

3.1 Phase portrait and power spectrum

The phase diagram of dynamical system is usually

Fig. 3 Numerically computed 2D view of other attractors
(a), (b) single band chaos, double-scroll chaotic attractor in
the yz plane for different initial condition (0.01, ±0.1, ±0.01)
reveals in blue and magenta colour and (c),(d) single band
chaos, double-scroll attractor for c = 1.005, 1.879 in the xz
plane. The rest of parameters are those of Figure. 2.
plot between two state variables namely x vs y, is de-
picted in Figure. 2(a), which provides the complexity
of the system. Initially, for c = 0.45, the system at-
tains fixed point, by gradually increasing the parame-
ter periodic attractor, observed for c = 0.65, and for
c = 0.82 period-2 is observed. Note that for periodic
behavior all spikes in power spectrum are harmonically
fundamental (see Figure 2(b)). On further tuning the
control parameter, single band chaotic attractor is ob-
6 A. Chithra, I. Raja Mohamed
Fig. 4 (a) Numerically simulated bifurcation diagram of the
system variable and (b) its respective three largest LEs.
served for c = 0, 99, then the system undergoes birth
of period-3 doubling which take place in the range of
(1.15 < 1.303). Upon further increasing the control pa-
rameter double-scroll chaotic attractors were observed
for c = (1.10 − 4.78), and for chaotic dynamics broad-
band power spectrum were appeared. Also, the pres-
ence of three-frequency tori in the system is confirmed
through power spectrum [17,18], which shows the iden-
tical three peaks in the system for c = 6.05. On fur-
ther increasing the control parameter, three-tori attrac-
tor destroys and tend to complex strange attractor for
c > 6.75 respectively. Thus, by slowly manipulating the
variable parameter, we identified three different routes
to chaos. The other type of 2D-attractors in the system
is presented in Figure.3.
Fig. 5 Phase portrait in the (x − y) plane shows Period-
3 doubling sequence to chaos along with Poincare map (a)
period-3 limit cycle, c = 1.19, (b) period-6 limit cycle, c =
1.30, (c) period-12 limit cycle, c = 1.30586, (d) period-24
limit cycle, c = 1.30898
3.2 Route to chaos
The system admits three different routes to chaos
with the help of variable system parameter (c). Hence,
by slowly increasing the parameter from c = 0 onwards,
by using the same system parameter as of Fig.2 various
periodic and chaotic states are depicted. Also, the two
computational source which act as indicator to charac-
terize the transition leading to chaos are exploited. One
is bifurcation diagram and second is its corresponding
Lyapunov exponent. The Lyapunov exponent values de-
termines the nature of dynamical attractors, using the
general strategy for periodic regime λ1 = 0, λ2 , λ3 < 0,
for quasi-periodicity λ1 = 0, λ2 = 0, λ3 < 0 and for
chaos λ1 > 0. The Lyapunov exponent matches well
with the corresponding bifurcation diagram of Fig(4a)is
shown in Fig(4b). Thus, by changing the control pa-
rameter c, the first largest Lyapunov exponent is in-
creases with positive and at one point it becomes zero
along with the second exponent, and further increase
in c value leads to positive exponent.
Using the local maxima points of state variable (x)
in terms of variable parameter with the choice of (0 ≤
c ≤ 10), the bifurcation diagrams is plotted. Initially
for c(0.64, 0.70) periodic orbit is observed. By further
increase in control parameter, periodic orbit bifurcates
and the emergence of period-3 attractor is observed for
c(0.89, 1.0). Though, the system follows the period dou-
bling cascade, which has been disturbed in the mid-
dle by period-3 doubling sequence and coexistence of
multiple attractors. Upon further increase in parameter
Multiple attractors and Strange nonchaotic dynamical behavior in a periodically forced system
Fig. 6 Four sets of coexisting attractors with pair of (a)
periodic c = 0.88, c = 0.95 and (b) chaotic attractors for
c = 1.12, c = 1.25
c(1.04, 5.2) the dynamics transits to chaotic attractors.
To confirm the existence of period-3 doubling sequence
in the system (4), the Poincare section has been plotted
and illustrated along with phase portrait in Fig.5. Fur-
ther, on fine tuning, the three-frequency tori has been
observed in the range of (6.05, 7.00). The enlargement of
the bifurcation diagram (not shown) of Fig.4(a) shows
the three-tori to chaos transition. As a result of this
analysis, the designed system shows rich contribution
concerning autonomous system with elegant nonlinear-
ity.
3.3 Occurrence of multiple attractors
The prominent feature of coexistence of multiple at-
tractors and multistability in the system without any
external influence has been identified. Very recent works
are dealing with the possible coexistence of multiple at-
tractors in the dynamical systems [23–25]. In nonlinear
dissipative system, two or more attractors may coexist
in phase-space, that is more than one dynamical be-
havior is possible, which depends solely on the initial
conditions. When the tiny change of initial condition
is considered, the system shows abundant and compli-
cated bifurcation. However, in this system for the differ-
ent value of control parameter c (2.02 < c < 6.6), phase
portrait of periodic and chaotic attractors of coexisting
multiple attractors is numerically illustrated in Fig.6.
For the increasing value of c, the long-term behavior is
observed from 1.05 < c < 2.3 which depends on the
choice of initial condition and tend to exhibit the coex-
istence of four different solutions (periodic and chaotic
attractors). For instance, the phase portrait of periodic
7
Fig. 7 Bifurcation diagram with two sets of imposed data
shows the presence of coexistence of multiple attractor using
two different initial condition
attractor from Fig.6 (i)-a(ii) is obtained with the initial
condition of x(0) = 0.1, y(0) = ±0.001, z(0) = ±0.01
for c = 0.88. Two sets of chaotic attractors with dif-
ferent initial conditions are identified and revealed in
Fig.6b(i)-b(ii) respectively. Also, the two sets of data
with different initial condition are plotted as shown in
Fig.7 which shows the presence of multiple attractors
in the system (4).
4 Experimental results
Being inspired from the above observed numerical
results, here this section reveals the experimental inves-
tigation of the third order autonomous chaotic circuit
shown in Fig.1 can experience complex behaviors. The
circuit parameters are fixed as same as mentioned in
Fig.1. The experimental results are obtained by varying
the control parameter resistor R15 . The phase portrait
was attained through the voltage (V), which is mea-
sured across the capacitor C1 and C2 and is linked to X
and Y channel of the analog oscilloscope. By gradually
altering the value of R15 from 100kΩ to 24kΩ, we iden-
tified different types of dynamical behaviors. Initially,
the circuit explored the periodic behavior and further
led to double scroll attractor via period-3 doubling se-
quence. When R15 is gradually decreased, the complete
sequence of bifurcation is observed as same as numerical
result. Some intermingled periodic states are appeared
within the chaotic motion. The existence of period-3
doubling sequence, indicates the possible occurrence of
three frequency torus in the circuit.
On further scrutinizing the resistance value slowly,
the robustness of three frequency tori is observed and
8 A. Chithra, I. Raja Mohamed

Fig. 8 Hardware experimental circuit results (a) Phase por-

trait (VC1 − VC2 ) plane and (b) the power spectrum of Fig. 10 Experimentally obtained three-frequency torus
VC1 . a(i) periodic orbit for R15 = 93.5kΩ, b(i) power breakdown to chaos, (a)-(c)- R15 = 45 to 30kΩ.
spectrum of x(t) with single frequency, a(ii) period-6T for
R15 = 75.6kΩ, b(ii) two-independent frequency, a(iii) single
scroll chaotic attractor for R15 = 64.7kΩ, b(iii) broad band
spectrum, a(iv) double scroll attractor for R15 = 58.5kΩ,
b(iv) broad band spectrum for double-scroll, a(v) 3D-tori
for R15 = 34.4kΩ, b(v) three-independent frequency in the
spectrum, a(vi) strange chaos for R15 = 26.8kΩ, b(vi) broad
band spectrum for strange chaos. Calibrated for horizontal
axis (VC1 ) 2 V/div, vertical axis (VC2 ) 2 V/div, t 50 ms/div

Fig. 11 Coexistence of multiple attractors for R15 = 90kΩ

to 80kΩ: (a),(b) periodic attractors and (c),(d) chaotic at-
tractors

three different transitions to chaos in the proposed cir-

cuit. In order to demonstrate the coexistence of attrac-
tors experimentally, we need to fix the initial condition.
The four sets of periodic and chaotic attractors are ob-
served and shown in Fig.11, which matches well with
the numerical results.
Fig. 9 Experimentally obtained phase portrait in the plane
of (VC1 − VC2 ) Route-I: period-3 doubling cascade to chaotic
attractor (a) period-3 limit cycle, R15 = 78.56kΩ, (b)
period-6 limit cycle, R15 = 78.9kΩ,(c) period-12 limit cy- 5 Strange nonchaotic attractor
cle, R15 = 77.45kΩ, (d) period-24 limit cycle, R15 = 76kΩ
Not every chaotic system is showing attractors with
fractal structure. Consequently, the system investiga-
verified the existence through power spectrum exper- tion is further extended to depicts complex attractors,
imentally. Fig.8 reveals the various phase trajectories thus by adding external periodic forcing. Many authors
along with their respective power spectrum and the ex- have previously investigated the properties of SNA be-
perimental results are corroborated well with their nu- haviors in variety of systems [31,32,37], but typically in
merical simulation results as shown in Fig. 2. all the cases SNAs were investigated under quasiperi-
When R15 is progressively decreased, all the sequence odically forced system. As a matter of example, few
of attractors revealed through numerical simulation (bi- authors [27, 41, 42] represent the emergence of SNAs
furcation diagram) can be observed experimentally, though, in autonomous and periodically forcing system. More-
some tiny domain region of intermingled state is not ob- over, the mechanism of torus breakdown may due to the
served experimentally. Figs. 8-10 clearly highlights the loss of smoothness which creates SNA in the system.
Multiple attractors and Strange nonchaotic dynamical behavior in a periodically forced system
Fig. 12 Numerical observation of SNA (a) phase portraits
and (b) corresponds to power spectrum (i) torus for f =
0.0079177, (ii) SNA for f = 0.0079178 and (iii) chaos for
f = 0.00792
Here the circuit parameters are fixed constant as same
as autonomous system shown in the Fig.1, the exter-
nal sinusoidal periodic signal from function generator
(AGLIENT 33500 B) is connected to the circuit. For
chosen parameters, the above circuit depicts SNA dy-
namics for R7 = 10kΩ, R8 = 28.46kΩ, R15 = 75.6kΩ
(Torus), R16 = 46.4kΩ, f r = 1.572KHz (frequency of
the input periodic force) and amplitude of the periodic
force is considered as control parameter. Continuously
by increasing the amplitude f of the periodic signal,
typical dynamical behaviors is observed.
5.1 Numerical analysis
The numerical investigation is initiated, in order to
confirm the system exhibited attractor in the parameter
space (f, ω) of external force is integrated numerically
in (4) with f 6= 0. The system generates quasiperiodic,
strange nonchaotic attractor and chaotic regimes, which
is calculated using various quantitative and qualita-
tive measures. Fig.12 reveals the numerically simulated
phase portraits in the (x − y) plane along with their
respective power spectrum analysis. For the specific pa-
rameter value of f = 0.007917 quasiperiodic regime is
observed and by further increasing the value f, frac-
9
Fig. 13 Lyapunov exponent of nonautonomous system with
single periodic force (λvsf )
tal dynamical behavior has been discovered as shown
in Figs.(12-16). The transition of SNA to chaotic be-
havior is attained through intermittent phenomenon for
f = 0.0079170, most points appear near the torus with
large deviations. Obviously, the power spectrum pre-
sented in the Fig.11 shows the subharmonic component
appears, as soon as disappears when time and frequency
increases respectively. Although, the phase portraits in
Fig.12 shows the complicated structure with negative
Lyapunov exponent as shown in Fig.13. Henceforth,
the attractor is strange but nonchaotic. To verify the
above-mentioned SNA dynamics, the numerical char-
acteristics like the spectral distribution, fractal path,
Poincare map with modulo 2π, 0 − 1 test analysis and
correlation dimension.
5.2 Poincare surface of section
As noted above, for every change in the value of am-
plitude of sinusoidal force (f) with constant frequency
(ω = 1.0), the interruption in period doubling appears
for more specific values of f (0.0079177 < f < 0.007940).
The attractor undergoes a quasiperiodic regime, further
increasing the control parameter intermittency route to
SNA is observed. Fig.14(a) reveals intermittent transi-
tion, the amplitude losses its regularity and slight burst
appears as dotted spot as shown in the Fig.14(b) which
clearly shows the presence of SNA behaviors in the sys-
tem through intermittent scenario. This behavior re-
peats as time increases and finally chaotic attractor is
observed (see Fig.14(c)).
10
Fig. 14 Poincare surface plot of the non-autonomous system
in the (x, ) plane with modulo 2π (a) quasiperiodic regime
for f = 0.0079177, (b) strange nonchaotic attractor for f =
0.0079178, (c) chaotic attractor for f = 0.007920.
5.3 Singular continuous spectrum analysis
One of the important numerical analyzes to inves-
tigate SNA dynamics from chaotic attractor is indeed
using the Fourier spectrum analysis. The transforma-
tion of state variable (v) is expressed as
N
X In order to classify the observed dynamics and to
ν(α, N ) = νk exp(2πikα) (10)
k−1
ν is the sum of state variable, α is proportional to
irrational driving frequency ω and is the time series
variable of length N, where N is regarded as time
|ν(α, N )|2 ≈ N β (11)
When the dynamics is strange and fractal, it obeys
the power-law relationship. The series of work [32, 33,
36–38,47,48] has shown the fractal nature walk in com-
plex plan and scaling exponent in the range of (1 < β <
2), where β is the scaling component of the spectrum.
In this the third order single forced dynamical circuit
described by the system (4), have been evaluated using
the above-mentioned partial Fourier transformation, in
order to confirm the SNA behaviors in the system. The
progress of N along with time, satisfies the power law
relationship where β = 1.3 as shown in the Fig.15(a).
Furthermore, the path between the real and imaginary
Fourier amplitude values, which explore the fractal walk
in the complex plane (self-similar structure) is revealed
in the Fig.15(b).
A. Chithra, I. Raja Mohamed
Fig. 15 (a)Singular continuous spectrum and (b) its Re and
Im fractal walk for f = 0.0079178 (SNA)
Fig. 16 (a) 0−1 test analysis and (b) Auto-correlation func-
tion computed numerically for f = 0.0079178.
5.4 0 − 1 test analysis
distinguish periodic, strange nonchaotic and chaotic at-
tractors in the system (4), we adopted this kind of anal-
ysis technique which does not require dimension or any
other aspect but only time-series data [33]. Due to the
reliability of the test, numerical time series data ob-
tained for the range of control parameter (0 ≤ f ≤ 4.0)
which covers the whole set of dynamics of the system.
Fig.16(a) presents the 0 − 1 test analysis result, where
the quasiperiodic dynamics is obtained for (0 ≤ f ≤
0.0014). SNA behavior has been identified in the range
of (0.0014f 0.994) and then, the chaotic attractors ap-
pear and reaches to unity as time increases. The exis-
tence of SNA behavior is usually confirmed by the algo-
rithm of maximal Lyapunov exponent with λ1 ≤ 0. The
Lyapunov exponent λ1 , intermittently falls to zero or
negative exponent in the parameter range of f (0, 0.25)
as revealed in Fig.13.
The auto-correlation function also helps to repre-
sent the aperiodicity and self-similarities in the nature
of SNA behavior. Moreover, one can see that auto-
correlation function comes to constant level after com-
puter over large T as for SNA as shown in Fig.16(b).
These results strongly suggest that the attractor in Fig.11
is indeed strange nonchaotic one.
Multiple attractors and Strange nonchaotic dynamical behavior in a periodically forced system
Fig. 17 (a) Experimental attractors and (b) their corre-
sponding power spectrum of the circuit shown in Figure. 3.8
(i) quasiperiodic attractor for E = 220mVp , (ii) SNA behav-
ior for E = 546mVp and (iii) chaos for E = 1.21Vp .
6 Experimental results
To begin the experiment analysis, external signal
is switched on and the control parameter is slowly in-
creased to see the response of the circuit. The distinc-
tion between SNA and regular behavior can be ob-
served by phase trajectories which is obtained exper-
imentally by measuring the voltage V of C1 and C2 .
For, SNA kind of attractor phase portrait look a like
geometrically fractal as shown in Fig.17 (a). Initially
for low value of amplitude (E = 100mVp ), the cir-
cuit exhibit two-frequency tori. Also, when the value
of E exceeds a certain critical value for a fixed fre-
quency (fr=1.572), the quasiperiodic state is bifurcate
to SNA dynamic motion through a period doubling cas-
cade interrupted by intermittent SNA, which then fi-
nally transit to chaotic attractor for E = 1.21Vp−p . Its
corresponding power spectrum is depicted in Fig.17(b).
The circuit exhibit torus, SNA followed by chaos in the
range 220mVp−p < f < 1.21Vp−p indicating the famil-
iar route to SNA. Hence, the system (4) explore the
complex dynamics including the SNA behavior is cor-
roborated well with the numerical results.
7 Conclusion
This work has reported the complex dynamical be-
haviors of the third-order chaotic oscillator using simple
11
threshold controller nonlinear element and investigated
with presence / absence of periodic forcing. The system
explored striking and extremely complicated attractors
like period-3 doubling, multiple attractors, three-tori
and chaos. The analysis of bifurcation and Lyapunov
exponents confirms the presence of complicated attrac-
tors in the system. Hereby the dynamical characteristics
of the system has been investigated through numerical
and experimental analysis. Both the numerical and ex-
perimental results are matched well and confirmed the
observed dynamics behaviors. One of the remarkable
feature of this system is the existence of SNA behavior
under the influence of single periodic forcing. Numer-
ical simulation result such as path of translation vari-
ables, Poincare map, singular-continuous spectrum and
0 − 1 test has been calculated and verified the pres-
ence of attractors. The experimental results of phase
portrait and power spectra agreed well with the nu-
merical results. More interestingly, the coexistence of
chaos with period-3, three tori and also SNA behavior
is discovered in this work represents an unusual/new
behavior not previously reported in nonlinear dynami-
cal systems and thus deserves dissemination. Owing to
the rich dynamics, this circuit finds application in the
field of chaos-based secure communication and this may
provide platform for young researchers to explore vari-
ous interesting transitions using different nonlinearities
in future.
Acknowledgments
This research work is supported by SERB under project
No: SR/S2/HEP-042/2012 and authors thank them for
providing financial support. The authors like to thank
Dr. K. Murali Anna University, Chennai for his valuable
suggestion.
A. Chithra acknowledges Dr. K. Srinivasan and Dr. K.
Suresh from Center for Nonlinear Dynamics (CNLD),
Tiruchirappalli, for helpful discussions.
Conflict of Interest
The authors declare that they have no conflict of
interest.
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