Analysis and Control of Output

Synchronization for Complex

Dynamical Networks Jin-Liang Wang
Visit to download the full and correct content document:
https://textbookfull.com/product/analysis-and-control-of-output-synchronization-for-co
mplex-dynamical-networks-jin-liang-wang/
More products digital (pdf, epub, mobi) instant
download maybe you interests ...

Intelligent Algorithms for Analysis and Control of

Dynamical Systems Rajesh Kumar

https://textbookfull.com/product/intelligent-algorithms-for-
analysis-and-control-of-dynamical-systems-rajesh-kumar/

Analysis and Data Based Reconstruction of Complex

Nonlinear Dynamical Systems Using the Methods of
Stochastic Processes M. Reza Rahimi Tabar

https://textbookfull.com/product/analysis-and-data-based-
reconstruction-of-complex-nonlinear-dynamical-systems-using-the-
methods-of-stochastic-processes-m-reza-rahimi-tabar/

Variable Structure Control of Complex Systems Analysis

and Design 1st Edition Xing-Gang Yan

https://textbookfull.com/product/variable-structure-control-of-
complex-systems-analysis-and-design-1st-edition-xing-gang-yan/

Complex Networks and Their Applications VIII Volume 2

Proceedings of the Eighth International Conference on
Complex Networks and Their Applications COMPLEX
NETWORKS 2019 Hocine Cherifi
https://textbookfull.com/product/complex-networks-and-their-
applications-viii-volume-2-proceedings-of-the-eighth-
international-conference-on-complex-networks-and-their-
Associative Memory Cells Basic Units of Memory Trace
Jin-Hui Wang

https://textbookfull.com/product/associative-memory-cells-basic-
units-of-memory-trace-jin-hui-wang/

Complex Networks amp Their Applications V Proceedings

of the 5th International Workshop on Complex Networks
and their Applications COMPLEX NETWORKS 2016 1st
Edition Hocine Cherifi
https://textbookfull.com/product/complex-networks-amp-their-
applications-v-proceedings-of-the-5th-international-workshop-on-
complex-networks-and-their-applications-complex-
networks-2016-1st-edition-hocine-cherifi/

Complex Networks amp Their Applications VI Proceedings

of Complex Networks 2017 The Sixth International
Conference on Complex Networks and Their Applications
1st Edition Chantal Cherifi
https://textbookfull.com/product/complex-networks-amp-their-
applications-vi-proceedings-of-complex-networks-2017-the-sixth-
international-conference-on-complex-networks-and-their-
applications-1st-edition-chantal-cherifi/

Linear and complex analysis for applications D'Angelo

https://textbookfull.com/product/linear-and-complex-analysis-for-
applications-dangelo/

RNA Abundance Analysis : Methods and Protocols Hailing

Jin

https://textbookfull.com/product/rna-abundance-analysis-methods-
and-protocols-hailing-jin/
Jin-Liang Wang · Huai-Ning Wu
Tingwen Huang · Shun-Yan Ren

Analysis and Control of

Output Synchronization
for Complex Dynamical
Networks
Analysis and Control of Output Synchronization
for Complex Dynamical Networks
Jin-Liang Wang • Huai-Ning Wu • Tingwen Huang
Shun-Yan Ren

Analysis and Control of

Output Synchronization
for Complex Dynamical
Networks

123
Jin-Liang Wang Huai-Ning Wu
School of Computer Science Beihang University
and Software Engineering Beijing, China
Tianjin Polytechnic University
Tianjin, China Shun-Yan Ren
School of Mechanical Engineering
Tingwen Huang Tianjin Polytechnic University
Texas A&M University at Qatar Tianjin, China
Doha, Qatar

ISBN 978-981-13-1351-6 ISBN 978-981-13-1352-3 (eBook)

https://doi.org/10.1007/978-981-13-1352-3

Library of Congress Control Number: 2018948210

© Springer Nature Singapore Pte Ltd. 2019

This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of
the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation,
broadcasting, reproduction on microfilms or in any other physical way, and transmission or information
storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology
now known or hereafter developed.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication
does not imply, even in the absence of a specific statement, that such names are exempt from the relevant
protective laws and regulations and therefore free for general use.
The publisher, the authors, and the editors are safe to assume that the advice and information in this book
are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or
the editors give a warranty, express or implied, with respect to the material contained herein or for any
errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional
claims in published maps and institutional affiliations.

This Springer imprint is published by the registered company Springer Nature Singapore Pte Ltd.
The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721,
Singapore
Preface

Recently, the synchronization problem for complex dynamical networks (CDNs)

has stirred much research interest due to its fruitful applications in various fields.
It is well known that the node state is difficult to be observed or measured, even
the node state cannot be observed or measured at all. Moreover, sometimes only
part states are needed to make synchronization to come true. For these phenomena,
it is more interesting to study the output synchronization of CDNs. On the other
hand, many real-world networks, such as transportation networks, social networks,
communication networks, and so on, are coupled by multiple coupling forms.
Obviously, it is also challenging and interesting to investigate the multi-weighted
CDNs. Therefore, the investigation of output synchronization about CDNs with
single weight and multiple weights has both practical and theoretical significance.
The aim of this book is to introduce recent research work on analysis and control
of output synchronization for CDNs. The book is organized as follows:
Chapter 1: The background of single-weighted CDNs and multiple-weighted
CDNs is introduced as well as the organization of this book, and some important
definitions and useful lemmas are also provided in this chapter.
Chapter 2: This chapter investigates the output synchronization of a class of
impulsive complex dynamical network with time-varying delay. By constructing
suitable Lyapunov functionals, some new and useful conditions are obtained to
guarantee the local and global exponential output synchronization of the impulsive
CDNs. Finally, numerical examples are given to demonstrate the effectiveness of
the theoretical results.
Chapter 3: This chapter considers a complex dynamical network model, in
which the input and output vectors have different dimensions. By constructing
appropriate Lyapunov functional, some sufficient conditions ensuring the passivity,
input strict passivity, and output strict passivity are derived for the complex
dynamical network with fixed coupling strength. In addition, we also reveal the
relationship between output strict passivity and output synchronization of the com-
plex dynamical network with fixed coupling strength. By employing the relationship
between output strict passivity and output synchronization, a sufficient condition

v
vi Preface

for output synchronization of the complex dynamical network with fixed coupling
strength is established. Then, we extend these results to the case when the coupling
strength is adaptively adjusted. Finally, two examples with numerical simulations
are provided to demonstrate the effectiveness of the proposed criteria.
Chapter 4: This chapter focuses on the problem of output synchronization in
undirected and directed CDNs, respectively, by applying Barbalat’s lemma. First, to
ensure the output synchronization, several sufficient criteria are established for these
network models based on some mathematical techniques, such as the Lyapunov
functional method and matrix theory. Furthermore, some adaptive schemes to adjust
the coupling weights among network nodes are developed to achieve the output
synchronization. By applying the designed adaptive laws, several criteria for output
synchronization are deduced for the network models. In addition, a design procedure
of the adaptive law is shown. Finally, two simulation examples are used to show the
effectiveness of the previous results.
Chapter 5: This chapter studies the output synchronization of coupled neural
networks (CNNs) as well as the effects of external disturbances. By employing
matrix theory and Barbalat’s lemma, several output synchronization criteria are pre-
sented for CNNs with directed and undirected topologies, respectively. Moreover, in
order to ensure the output synchronization of CNNs, two adaptive schemes to adjust
coupling weights are designed. On the other hand, we, respectively, analyze H∞
output synchronization of directed and undirected CNNs with external disturbances,
and two adaptive strategies for updating the coupling weights are designed to
guarantee the H∞ output synchronization of CNNs. Finally, two examples of CNNs
are also given to verify the proposed output synchronization criteria.
Chapter 6: This chapter proposes a new complex dynamical network model
with output coupling. This model is totally different from some existing complex
dynamical network models. By exploiting Lyapunov functional method and some
inequality techniques, several criteria on local and global exponential output
synchronization are derived for the proposed network model. Finally, numerical
simulations are given to illustrate the effectiveness of the derived results.
Chapter 7: In this chapter, two kinds of adaptive output synchronization problems
for a complex delayed dynamical network with output coupling are investigated,
that is, the cases with positive definite output matrix and with semi-positive definite
output matrix. For the former, by using adaptive control method, a sufficient
condition is obtained to guarantee the output synchronization of the complex
dynamical network. In addition, a pinning adaptive output synchronization criterion
is also derived for such network model. Then, we extend these results to the case
when the output matrix is semi-positive definite. Finally, two numerical examples
are provided to illustrate the effectiveness of the proposed results.
Chapter 8: In this chapter, we introduce two CDNs with multi-weights, which
have several different sorts of weights between two nodes. By means of Lyapunov
functional method and pinning control technique, some sufficient conditions are
derived to ensure the synchronization for proposed network models. Moreover,
some adaptive strategies are given to acquire suitable coupling strengths and
Preface vii

feedback gains. By exploiting these designed adaptive laws, several general criteria
for network synchronization are established. Finally, two numerical examples are
also provided to show the validity of the theoretical results.
Chapter 9: The output synchronization and H∞ output synchronization problems
for multi-weighted complex dynamical network are discussed in this chapter.
First, we analyze the output synchronization of multi-weighted complex dynamical
network by exploiting Lyapunov functional and Barbalat’s lemma. In addition, some
nodes-based and edges-based pinning control strategies are developed to ensure the
output synchronization of multi-weighted complex dynamical network. Similarly,
the H∞ output synchronization problem of multi-weighted complex dynamical
network is also discussed. Finally, two numerical examples are presented to verify
the correctness of the obtained results.

Acknowledgements

This book was supported by the National Natural Science Foundation for Distin-
guished Young Scholars of China under Grant 61625302, the National Natural
Science Foundation of China under Grants 61773285, 61473011, and 61721091, the
Program for Innovative Research Team in University of Tianjin (No. TD13-5032),
and the National Priorities Research Program (NPRP) from the Qatar National
Research Fund (a member of Qatar Foundation) under Grant NPRP 9-166-1-031.
I’d like to begin by acknowledging my postgraduates Wei-Zhong Chen, Zhen Qin,
Xiao-Xiao Zhang, Shui-Han Qiu, Qing Wang, Dong-Yang Wang, Jie Hou, and
Shan-Rong Lin who have unselfishly given their valuable time in arranging these
raw materials into something I’m proud of.

Tianjin, China Jin-Liang Wang

Beihang, China Huai-Ning Wu
Doha, Qatar Tingwen Huang
Tianjin, China Shun-Yan Ren
May 2018
Contents

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Background. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1.1 CDNs with Single Weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1.2 CDNs with Multiple Weights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 Book Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.3 Some Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4 Some Lemmas. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2 Output Synchronization Criteria for Impulsive CDNs with
Time-Varying Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Network Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.3 Main Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.4 Numerical Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3 Passivity and Output Synchronization of CDNs with Fixed and
Adaptive Coupling Strength . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.2 Network Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.3 Passivity and Output Synchronization of CDNs with Fixed
Coupling Strength . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.3.1 Passivity Analysis of CDNs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.3.2 Passivity-Based Output Synchronization of CDNs . . . . . . . . . . . 33
3.4 Passivity and Output Synchronization of CDNs with Adaptive
Coupling Strength . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.4.1 Passivity Analysis of Complex Dynamical Network. . . . . . . . . . 40
3.4.2 Passivity-Based Output Synchronization of Complex
Dynamical Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.5 Numerical Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

ix
x Contents

4 Analysis and Control of Output Synchronization in Directed

and Undirected CDNs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.2 Network Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.3 Output Synchronization of CDNs with Directed and
Undirected Topologies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.3.1 Output Synchronization of a Complex Dynamical
Network with a Directed Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.3.2 Output Synchronization of a Complex Dynamical
Network with an Undirected Topology . . . . . . . . . . . . . . . . . . . . . . . . 62
4.4 Adaptive Output Synchronization of CDNs with Directed and
Undirected Topologies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
4.4.1 Adaptive Output Synchronization of a Complex
Dynamical Network with a Directed Topology . . . . . . . . . . . . . . . 64
4.4.2 Adaptive Output Synchronization of a Complex
Dynamical Network with an Undirected Topology . . . . . . . . . . . 71
4.5 Numerical Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
4.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
5 Output Synchronization in CNNs With and Without External
Disturbances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
5.2 Output Synchronization of CNNs with Fixed and Adaptive
Couplings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5.2.1 Network Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5.2.2 Output Synchronization of CNNs with Fixed Coupling . . . . . . 84
5.2.3 Output Synchronization of CNNs with Adaptive
Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
5.3 H∞ Output Synchronization of CNNs with Fixed and
Adaptive Couplings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
5.3.1 Network Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
5.3.2 H∞ Output Synchronization of CNNs with Fixed
Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
5.3.3 H∞ Output Synchronization of CNNs with Adaptive
Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
5.4 Numerical Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
5.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
6 Local and Global Exponential Output Synchronization of CDDNs . . . . 111
6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
6.2 Network Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
6.3 Main Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
6.4 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
6.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Contents xi

7 Adaptive Output Synchronization of CDDNs with Output

Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
7.2 Network Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
7.3 Adaptive Output Synchronization of Complex Delayed
Dynamical Network with Positive Definite Output Matrix . . . . . . . . . . . 130
7.3.1 Adaptive Output Synchronization of Complex
Network with Output Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
7.3.2 Pinning Adaptive Output Synchronization of Complex
Network with Output Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
7.4 Adaptive Output Synchronization of Complex Delayed
Dynamical Network with Semi-positive Definite Output Matrix . . . . . 138
7.4.1 Adaptive Output Synchronization of Complex
Network with Output Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
7.4.2 Pinning Adaptive Output Synchronization of Complex
Network with Output Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
7.5 Numerical Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
7.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
8 Pinning Synchronization of CDNs with Multi-weights . . . . . . . . . . . . . . . . . . 145
8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
8.2 Pinning Synchronization of CDNs with Multi-weights . . . . . . . . . . . . . . . 147
8.2.1 Pinning Synchronization for Directed Complex
Network with Multi-weights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
8.2.2 Pinning Synchronization for Undirected Complex
Dynamical Network with Multi-weights . . . . . . . . . . . . . . . . . . . . . . 158
8.3 Numerical Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
8.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
9 Analysis and Pinning Control for Output Synchronization
and H∞ Output Synchronization of Multi-weighted Complex
Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
9.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
9.2 Output Synchronization and Pinning Control of Complex
Networks with Multi-weights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
9.2.1 Network Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
9.2.2 Output Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
9.2.3 Nodes-Based Pinning Output Synchronization. . . . . . . . . . . . . . . . 183
9.2.4 Edges-Based Pinning Output Synchronization . . . . . . . . . . . . . . . . 186
9.3 H∞ Output Synchronization and Pinning Control of Complex
Networks with Multi-weights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
9.3.1 Network Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
9.3.2 H∞ Output Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
xii Contents

9.3.3 Nodes-Based Pinning H∞ Output Synchronization . . . . . . . . . . 193

9.3.4 Edges-Based Pinning H∞ Output Synchronization . . . . . . . . . . 196
9.4 Numerical Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
9.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Symbols and Acronyms

N 1, 2, 3, · · ·
R field of real numbers
R+ field of nonnegative real numbers
Rn n-dimensional real Euclidean space
Rm×n space of all m × n real matrices
In n × n real identity matrix
P >0 symmetric positive definite
P 0 symmetric positive semi-definite
P <0 symmetric negative definite
P 0 symmetric negative semi-definite
BT transpose of matrix B
B −1 inverse of matrix B
⊗ Kronecker product of two matrices
λM (A) maximum eigenvalue of matrix A
λm (A) minimum eigenvalue of matrix A
diag(· · · ) block-diagonal matrix
|| · || Euclidean norm of a vector and its induced norm of a
matrix
sup supremum
inf infimum

xiii
xiv Symbols and Acronyms

PC[[−τ, +∞), R] {φ : [−τ, +∞) → R, φ(t) is continuous everywhere

except for the points
tk , k ∈ N at which φ(tk+ ) = φ(tk ) and φ(tk− ) exist}
C([−τ, 0], Rn ) a Banach space of continuous functions mapping the
interval [−τ, 0] into
Rn with the norm φτ = sup−τ θ0 φ(θ )
Rank(·) the rank of a matrix
CDNs complex dynamical networks
CNNs coupled neural networks
CDDNs complex delayed dynamical networks
Chapter 1
Introduction

1.1 Background

1.1.1 CDNs with Single Weight

In the real world, complex networks can be seen everywhere, and have been viewed
as a fundamental tool in understanding dynamical behavior and the response of
real systems such as food webs, communication networks, social networks, cellular
networks, World Wide Web, metabolic systems, disease transmission networks,
biological neural networks, CNNs, power grids, and many others [1–3]. The
investigation of CDNs obviously plays a prominent role both in application and
theory, and the topology and dynamical behavior of various complex networks
have been extensively studied by researchers [4, 5]. Especially, as one of the
most significant and interesting dynamical properties of the complex networks,
synchronization has received much of the focus in recent years. So far, a great
many important results on synchronization have been obtained for various complex
networks such as time invariant, time-varying, and impulsive network models; see
[6–21] and relevant references therein.
It should be noticed that the state synchronization of complex networks with
state coupling was considered in these articles (see also the above mentioned
references). Practically, there are two kinds of coupling forms in complex networks:
state coupling and output coupling. As we know, many phenomena in nature can be
modeled as complex networks with output coupling [22, 23]. Nevertheless, there are
very few works on CDNs with output coupling [22–24]. To our knowledge, Jiang,
Tang and Chen [22] first introduced a complex network model with output coupling,
and established some conditions for synchronization of such network model based
on the Lyapunov stability theory. In [23], Chen proposed a complex network model
with output coupling and random sensor delay, and a sufficient synchronization
condition was given to ensure that the proposed network model is exponentially
mean-square stable.

© Springer Nature Singapore Pte Ltd. 2019 1

J.-L. Wang et al., Analysis and Control of Output Synchronization for Complex
Dynamical Networks, https://doi.org/10.1007/978-981-13-1352-3_1
2 1 Introduction

One should note that the state synchronization was investigated in [22, 23]. It is
well known that the node state in complex networks is difficult to be observed or
measured, even the node state can not be observed or measured at all. Moreover,
in many circumstances, only part states are needed to make the synchronization
to come true. For these phenomena, it is more interesting to study the output
synchronization of complex networks. Practically, the output synchronization of
complex networks has attracted great attention of researchers in recent years, and
a large number of criteria have been derived to guarantee output synchronization
for different complex network models [24–38]. For instance, Wang and Wu [25]
discussed the output synchronization of a class of impulsive CDNs with time-
varying delay, and some useful conditions were obtained to guarantee the local and
global exponential output synchronization of the impulsive complex networks by
constructing suitable Lyapunov functionals. In [26], the authors took the output
synchronization into consideration for an impulsive complex delayed dynamical
network, and some criteria were acquired to ensure global exponential output
synchronization of the above-mentioned network by means of impulsive delay dif-
ferential inequalities. By exploiting the relationship between output synchronization
and output strict passivity, Wang et al. [29] presented two output synchronization
criteria for the complex networks with adaptive and fixed coupling strengths. To the
best of our knowledge, very few authors have considered the output synchronization
for complex networks with output coupling [24, 30]. In [30], the authors considered
a kind of complex networks that not only has time-varying delay but also has
output coupling, and discussed the output synchronization of such network model.
Therefore, it is essential to further study the output synchronization of CDNs with
time-varying delay and output coupling.

1.1.2 CDNs with Multiple Weights

However, most of the existing results on synchronization are all based on network
models with a single weight. As is well known, many real-world networks can
be described by complex dynamical network models with multi-weights, where
nodes are coupled by multiple coupling forms, such as transportation networks,
social networks, communication networks, and so on. For instance, individuals or
organizations can get in touch with each other by e-mail, mobile phone, facebook,
etc. Considering that every way of communication has different weights, social
networks should be modeled by multi-weighted complex networks. Furthermore,
in the public traffic roads networks, taking every bus line as the network node, the
edge means that two different bus lines have the same bus stops. In this case, there
obviously exist different coupling weights in public traffic roads networks, such as
coefficient of bus line length, passenger flow density, departing frequency, and so
on [39]. Consequently, it is of great importance to investigate the multi-weighted
CDNs. However, very few researchers have studied the synchronization problem of
CDNs with multi-weights [39–41], specially the output synchronization problem. In
1.2 Book Organization 3

[39], the authors investigated the global synchronization of multi-weighted complex

networks by changing transfers coefficient, congestion degrees and passenger flow
density between different bus lines. An et al. [40] derived a criterion for global
synchronization of the public traffic roads networks with multi-weights based on the
Lyapunov stability theory. In [41], the authors considered a multi-weighted complex
network with time-varying delays and uncertain inner coupling matrices, and a
synchronization criterion was established for such network model by exploiting the
designed adaptive feedback controller.

1.2 Book Organization

In recent years, more and more attention has been paid to the synchronization
problem for CDNs due to its fruitful applications in various fields. As is well known,
the node state is difficult to be observed or measured, even the node state can not
be observed or measured at all. Moreover, sometimes only part states are needed to
make synchronization to come true. On the other hand, many real-world networks,
such as transportation networks, social networks, communication networks, and so
on, are coupled by multiple coupling forms. Thus, the main aim of this book is
to introduce some recent results on analysis and control of output synchronization
for CDNs with single weight and multiple weights, and this book can serve as a
stepping stone to study the output synchronization of CDNs. The rest of this book
is organized as follows:
Chapter 2 introduces a new impulsive complex dynamical network model
with time-varying delay, and investigates the local and global exponential output
synchronization of the proposed network. By constructing suitable Lyapunov
functionals, some new and useful conditions are obtained to guarantee the local
and global exponential output synchronization of the impulsive complex dynamical
network.
Chapter 3 proposes a complex dynamical network with different dimensions of
input and output. The passivity, input strict passivity and output strict passivity of
the proposed network model with fixed and adaptive coupling strength are taken
into consideration, and several sufficient conditions are established. Furthermore,
the relationship between output strict passivity and output synchronization of the
proposed network model with fixed and adaptive coupling strength are revealed.
In addition, some sufficient conditions for ensuring the output synchronization
are derived by utilizing the relationship between output strict passivity and output
synchronization.
Chapter 4 focuses on the problem of the output synchronization in complex
network models with directed and undirected topologies. By applying Barbalat’s
lemma and constructing the appropriate Lyapunov functionals, several output
synchronization criteria are developed for these network models. Furthermore, some
control schemes are presented to adjust the coupling weights among network nodes,
4 1 Introduction

and several criteria for the output synchronization are deduced by applying the
designed adaptive laws.
Chapter 5 is concerned with the output synchronization and H∞ output syn-
chronization problems for directed and undirected CNNs. By employing matrix
theory, Lyapunov functionals and Barbalat’s Lemma, several output synchronization
and H∞ output synchronization criteria are presented for these network models.
Moreover, some adaptive schemes to adjust coupling weights are developed for
reaching output synchronization and H∞ output synchronization.
Chapter 6 proposes a new complex delayed dynamical network model with
output coupling, and studies the output synchronization of the proposed network
model. Several local and global exponential output synchronization criteria are
established for the complex delayed dynamical network model with output coupling.
Chapter 7 presents a new complex delayed dynamical network with output cou-
pling and semi-positive definite output matrix. The adaptive output synchronization
of the proposed network model is investigated, and some sufficient conditions are
obtained to guarantee the output synchronization of the complex delayed dynamical
network.
Chapter 8 discusses the pinning synchronization for directed and undirected
CDNs with multi-weights, respectively. On one hand, some synchronization criteria
are established for the multi-weighted complex network with directed topology,
and several adaptive laws for tuning coupling strengths and feedback gains are pre-
sented. On the other hand, some similar results for undirected complex dynamical
network with multi-weights also are derived.
Chapter 9 considers the multi-weighted complex dynamical network with and
without external disturbances. With the help of the Lyapunov functionals and
Barbalat’s Lemma, we not only analyze the output synchronization of multi-
weighted complex networks, but also present some nodes-based and edges-based
pinning adaptive control strategies. On the other hand, a few similar results about
the H∞ output synchronization of multi-weighted complex networks with external
disturbances are also obtained.

1.3 Some Definitions

Definition 1.1 (see [42]) A system with supply rate ϑ is said to be dissipative if
there exists a nonnegative function S : R+ → R+ , called the storage function, such
that
 tp
ϑ(u, y)dt  S(tp ) − S(t0 )
t0

for any tp , t0 ∈ R+ and tp  t0 , where u(t) ∈ Rp and y(t) ∈ Rq are the input and
output of the system at time t, respectively.
1.3 Some Definitions 5

Definition 1.2 A system is said to be passive if it is dissipative with respect to

ϑ(u, y) = y T (t)P u(t),

where P ∈ Rq×p is a constant matrix, u(t) ∈ Rp and y(t) ∈ Rq are the input and
output of the system at time t, respectively.
Definition 1.3 A system is said to be strictly passive if it is dissipative with
respect to

ϑ(u, y) = y T (t)P u(t) − y T (t)Qy(t) − uT (t)W u(t)

for W ∈ Rp×p  0, Q ∈ Rq×q  0, P ∈ Rq×p and λm (W ) + λm (Q) > 0,

where u(t) ∈ Rp and y(t) ∈ Rq are the input and output of the system at time t,
respectively.
The system is said to be input-strictly passive if W > 0 and output-strictly
passive if Q > 0.
Definition 1.4 (see [43]) Function class QUAD(Δ, P ): let P = diag(p1 , p2 , · · · ,
pn ) be a positive definite diagonal matrix and Δ = diag(δ1 , δ2 , · · · , δn ) be a
diagonal matrix. QUAD(Δ, P ) denotes a class of continuous functions f (x, t) :
Rn × [0, +∞) → Rn satisfying

(x − y)T P {[f (x, t) − f (y, t)] − Δ(x − y)}  −η(x − y)T (x − y)

for some η > 0, all x, y ∈ Rn and t > 0.

It can be verified that many of the benchmark chaotic systems belong to
“Function class QUAD” [44], such as the Lorenz system [45], the Chen system
[46] and the Lü system [47].
Definition 1.5 (see [1]) Let A = (aij )m×n ∈ Rm×n and B = (bij )p×q ∈ Rp×q .
Then the Kronecker product of A and B is defined as the matrix
⎛ ⎞
a11 B a12 B · · · a1n B
⎜ a21 B a22 B · · · a2n B ⎟
⎜ ⎟
A⊗B =⎜ . .. .. ⎟ ∈ R
mp×nq
.
⎝ . . . ··· . ⎠
am1 B am2 B · · · amn B

Definition 1.6 (see [48]) The matrix B of order n is said to be reducible if there is
a permutation matrix Q ∈ Rn×n satisfying

B1 0
QBQT = ,
B21 B2
6 1 Introduction

where B1 and B2 are square matrices of order at least one. If B is not reducible, then
B is called irreducible.

1.4 Some Lemmas

Lemma 1.7 (Berman and Plemmons [49]) Let A ∈ Rn×n , then

λm (A)x T x  x T Ax  λM (A)x T x

for any x ∈ Rn if A is a symmetric matrix.

Lemma 1.8 (see [50]) If the differentiable function g(t) has a finite limit as t →
+∞ and if ġ(t) is uniformly continuous, then ġ(t) → 0 as t → +∞.
Lemma 1.9 (see [51, 52]) The following formulas show the important properties
of the Kronecker product:

(1) (M1 ⊗ M2 )T = M1T ⊗ M2T ;

(2) (γ M1 ) ⊗ M2 = M1 ⊗ (γ M2 );
(3) (M1 + M2 ) ⊗ M3 = M1 ⊗ M3 + M2 ⊗ M3 ;
(4) (M1 ⊗ M2 )(M3 ⊗ M4 ) = (M1 M3 ) ⊗ (M2 M4 ),

where γ ∈ R, M1 , M2 , M3 , M4 are matrices with suitable dimensions.

Lemma 1.10 (see [53]) Suppose that G is irreducible; at same time, it satisfies
N
j =1 Gij = 0 with Gij  0(i = j ). Then, there exists a positive vector θ =
(θ1 , θ2 , · · · , θN )T ∈ RN such that

(1) GT θ = 0;
(2) Ĝ = Ξ G + GT Ξ is symmetric and
N N
Ĝij = Ĝj i = 0 for all i = 1, 2, ..., N,
j =1 j =1

where Ξ = diag(θ1 , θ2 , · · · , θN ).

Lemma 1.11 (see [54]) Suppose that G = (Gij )N ×N is a real symmetric and
irreducible matrix, where

N
Gij  0 (i = j ), Gii = − Gij .
j =1
j =i
1.4 Some Lemmas 7

Then,
(1) 0 is an eigenvalue of matrix G with multiplicity 1 and all the other eigenvalues
of G are strictly negative.
(2) The largest nonzero eigenvalue λ2 (G) of the matrix G satisfies

x T Gx
λ2 (G) = max T
.
x T 1N =0,x=0 x x

(3) For any η = (η1 , η2 , · · · , ηN )T ∈ RN ,

N N
1
ηT Gη = − Gij (ηi − ηj )2 .
2
i=1 j =1

Lemma 1.12 (see [48]) Let B be a matrix of order n. After that, there exists a
permutation matrix Q of order n and an integer m  1 satisfying
⎛ ⎞
B1 B12 · · · B1m
⎜ 0 B2 · · · B2m ⎟
⎜ ⎟
QBQT = ⎜ . .. . . .. ⎟ , (1.1)
⎝ .. . . . ⎠
0 0 · · · Bm

where B1 , B2 , · · · , Bm are square irreducible matrices. The matrices

B1 , B2 , · · · , Bm that occur as diagonal blocks in (1.1) are uniquely determined
to within simultaneous permutation of their lines, while their ordering in (1.1) is
not necessarily unique.
The form in (1.1) is called the Frobenius normal form of the square matrix B.
Lemma 1.13 (see [55]) Assume that G = (Gij )N ×N (N  2) is an irreducible
matrix, where

N
Gij  0 (i = j ), Gii  − Gij .
j =1
j =i

After that, there exists a diagonal matrix K = diag(K1 , K2 , · · · , KN ) ∈ RN ×N > 0

such that

KG + GT K  0.
Chapter 2
Output Synchronization Criteria for
Impulsive CDNs with Time-Varying
Delay

2.1 Introduction

In the real world, complex networks can be seen everywhere, and have been viewed
as a fundamental tool in understanding dynamical behavior and the response of
real systems such as food webs, communication networks, social networks, power
grids, cellular networks, World Wide Web, metabolic systems, disease transmission
networks, and many others [1]. The topology and dynamical behavior of various
complex networks have been extensively studied by researchers. In particular,
the synchronization problem has received much of the focus in recent years. A
wide variety of synchronization criteria have been presented for various complex
networks, see [7, 9, 14, 19–21, 24, 38, 56–62] and relevant references therein.
It should be noticed that the node state in complex networks is difficult to be
observed or measured, even the node state can not be observed or measured at
all. Moreover, in many circumstances only part states are needed to make the
synchronization to come true. For these phenomena, it is interesting to study the
output synchronization of complex networks. To our knowledge, there are few
works on the output synchronization of complex dynamical networks [24]. In [24],
Wang and Wu proposed a new complex dynamical network model with output
coupling, and studied the output synchronization of the proposed network model.
By constructing suitable Lyapunov functionals, some sufficient conditions ensuring
local and global exponential output synchronization were obtained.
On the other hand, impulsive phenomena can be found in a wide variety of evo-
lutionary process. In particular, some biological systems such as biological neural
networks and bursting rhythm models in pathology, as well as frequency-modulated
signal processing systems, optimal control models in economics, and flying object
motions, in which many sudden and sharp changes occur instantaneously, in the
form of impulse. Besides, impulsive phenomena can also be found in other fields
of information science, automatic control systems, electronics, robotics, computer
networking, artificial intelligence, and telecommunications, etc. [63]. Recently,

© Springer Nature Singapore Pte Ltd. 2019 9

J.-L. Wang et al., Analysis and Control of Output Synchronization for Complex
Dynamical Networks, https://doi.org/10.1007/978-981-13-1352-3_2
10 2 Output Synchronization Criteria for Impulsive CDNs with Time-Varying Delay

some researchers have studied the state synchronization of impulsive complex

dynamical networks [64–66]. Zhou et al. [64] investigated the state synchronization
of complex dynamical networks with impulsive effects. They proved that state
synchronization of complex networks is heavily dependent on impulsive effects of
connecting configuration in the networks. In [65], Li and Lai studied adaptive-
impulsive state synchronization of uncertain complex dynamical networks, and
several synchronization criteria were established. To the best of our knowledge,
the output synchronization of complex networks with impulsive effects and time-
varying delay has not yet been studied.
Motivated by the above discussion, we propose an impulsive complex network
model with time-varying delay. By constructing suitable Lyapunov functionals,
some sufficient conditions on local and global exponential output synchronization
are derived for the proposed network model.
The chapter is organized as follows. An impulsive complex network model is
introduced in Sect. 2.2. Some local and global exponential output synchronization
criteria are established in Sect. 2.3. In Sect. 2.4, numerical examples are provided to
illustrate the effectiveness of the theoretical results. Finally, Sect. 2.5 concludes the
investigation and proposes some further work.

2.2 Network Model

In this chapter, we consider an impulsive complex network consisting of N identical

nodes with diffusive and delay coupling, in which each node is an n-dimensional
dynamical system. The mathematical model of the impulsive complex network can
be described as follows:
⎧ N
⎪
⎪ a
⎪
⎪ ẋ (t) =f (x (t)) + Lij Γ1 xj (t)
⎪
⎪
i i β
⎪
⎪ ki ω j =1
⎪
⎪
⎪
⎪
⎨ N
b
+ β Lij Γ2 xj (t − τ (t)), t = tk , (2.1)
⎪
⎪ ki ω j =1
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪ yi (t) =Cxi (t),
⎪
⎪
⎩
Δxi =Ik (xi ), t = tk ,

where i = 1, 2, · · · , N, k ∈ N. τ (t) is the time-varying delay with 0  τ (t)  τ .

The function f (·), describing the local dynamics of the nodes, is continuously
differentiable and capable of producing various rich dynamical behaviors, xi (t) =
(xi1 (t), xi2 (t), · · · , xin (t))T ∈ Rn is the state variable of node i, yi (t) ∈ Rn is
the output of node i, C is known matrix with appropriate dimensions, Γ1 and
2.3 Main Results 11

Γ2 ∈ Rn×n describe the coupling relations between two nodes for non-delayed
configuration and delayed one, respectively, a and b are positive real numbers,
which represent the overall coupling strength for non-delayed configuration and
delayed one, respectively, ki is the degree of node i and βω is a tunable weight
parameter, the real matrix L = (Lij )N ×N is a symmetric matrix with diagonal
entries Lii = −ki and off-diagonal entries Lij = 1 if node i and node j
are connected by a link, and Lij = 0 otherwise. The fixed moments tk satisfy
0 = t0 < t1 < t2 < · · · < tk < · · · , and limk→+∞ tk = +∞, k ∈ N. At time
instants tk , jumps in the state variable xi are denoted by Δxi |t=tk = xi (tk ) − xi (tk− ),
where xi (tk− ) = limt→t − xi (t), Ik (xi ) ∈ Rn denote the incremental change of the
k
state variable xi at time tk .
For the impulsive complex network (2.1), its initial conditions are given by
xi (s) = Φi (s) ∈ C([−τ, 0], Rn ), i = 1, 2, · · · , N. In this chapter, we always
assume that C is nonsingular matrix and network (2.1) is connected.
Definition 2.1 The impulsive complex network (2.1) is said to achieve output
synchronization if

lim ||yi (t) − yj (t)|| = 0 for all i, j = 1, 2, · · · , N.

t→+∞

Remark 2.2 In this model, the parameter βω = 0 recovers that the network is
unweighted and undirected, and the condition βω = 0 corresponds to a network with
weighted configuration and bidirectional [58]. Moreover, we take into account the
case that the coupling relations and the coupling strength are related to the current
state and the delayed state.

2.3 Main Results

For the convenience, we denote

fˆ(x(t)) = Cf (C −1 x(t)),

where x(t) ∈ Rn .
Throughout this chapter, it is assumed that h(t) ∈ Rn is an equilibrium point of
the following system

ẋ(t) = fˆ(x(t)). (2.2)

For convenient analysis, we let

Lij
Gij = β
,
ki ω
12 2 Output Synchronization Criteria for Impulsive CDNs with Time-Varying Delay

then we can get

⎧
⎪
⎪
N
⎪
⎪ ẏ (t) = fˆ(y (t)) + a Gij CΓ1 C −1 yj (t)
⎪
⎪ i i
⎪
⎪
⎪
⎪
j =1
⎪
⎪
⎪
⎪
⎪
⎨ N
+b Gij CΓ2 C −1 yj (t − τ (t)), t = tk ,
⎪
⎪
⎪
⎪ j =1
⎪
⎪
⎪
⎪
⎪
⎪ Δyi =Ik (yi ), t = tk ,
⎪
⎪
⎪
⎪
⎪
⎩
yi (s) =CΦi (s), s ∈ [−τ, 0],

where i = 1, 2, · · · , N , k ∈ N, Ik (yi ) = yi (tk ) − yi (tk− ) = CIk (xi ). Letting

ei (t) = yi (t) − h(t), we can obtain
⎧
⎪
⎪
N
⎪
⎪ ė (t) =fˆ(y (t)) − f ˆ(h(t)) + a Gij CΓ1 C −1 ej (t)
⎪
⎪ i i
⎪
⎪
⎪
⎪
j =1
⎪
⎪
⎪
⎪
⎪
⎨ N
+b Gij CΓ2 C −1 ej (t − τ (t)), t = tk , (2.3)
⎪
⎪
⎪
⎪ j =1
⎪
⎪
⎪
⎪
⎪
⎪ Δei =Ik (ei ), t = tk ,
⎪
⎪
⎪
⎪
⎪
⎩
ei (s) =CΦi (s) − h(s), s ∈ [−τ, 0],

where k ∈ N, Ik (ei ) = ei (tk ) − ei (tk− ) = Ik (yi ). Its linearized system reads as

⎧
⎪
⎪
N
⎪
⎪ ė (t) =D fˆ(h(t))e (t) + a Gij CΓ1 C −1 ej (t)
⎪
⎪ i i
⎪
⎪
⎪
⎪
j =1
⎪
⎪
⎪
⎪
⎪
⎨ N
+b Gij CΓ2 C −1 ej (t − τ (t)), t = tk , (2.4)
⎪
⎪
⎪
⎪ j =1
⎪
⎪
⎪
⎪
⎪
⎪ Δei =Ik (ei ), t = tk ,
⎪
⎪
⎪
⎪
⎪
⎩
ei (s) =CΦi (s) − h(s), s ∈ [−τ, 0],

where D fˆ(h(t)) = fˆ (h(t)) ∈ Rn×n is the Jacobian of fˆ(x(t)) at h(t). We can
rewrite network (2.4) in a compact form as follows:
2.3 Main Results 13

⎧
⎪
⎪ ė(t) =[IN ⊗ D fˆ(h(t))]e(t) + a[G ⊗ (CΓ1 C −1 )]e(t)
⎪
⎪
⎪
⎪
⎪
⎪
⎨ + b[G ⊗ (CΓ2 C −1 )]e(t − τ (t)), t = tk ,
(2.5)
⎪
⎪
⎪
⎪ Δe =Ik (e), t = tk ,
⎪
⎪
⎪
⎪
⎩
e(s) =Φ̂(s) − H (s), s ∈ [−τ, 0],

where G = (Gij )N ×N , and

Φ̂(s) = [(CΦ1 (s))T , (CΦ2 (s))T , · · · , (CΦN (s))T ]T ,

H (s) = (hT (s), hT (s), · · · , hT (s))T ,

 T
e(t) = e1T (t), e2T (t), · · · , eN
T
(t) ,

Δe = [(Δe1 )T , (Δe2 )T , · · · , (ΔeN )T ]T ,

Ik (e) = (IkT (e1 ), IkT (e2 ), · · · , IkT (eN ))T ,

e(t − τ (t)) = (e1T (t − τ (t)), e2T (t − τ (t)), · · · , eN

T
(t − τ (t)))T .

Since network (2.1) is connected in the sense of having no isolated clusters,

which means that the matrix K (K = diag(k1 , k2 , · · · , kN ) is the diagonal matrix
of degree.) is non-singular, and the coupling matrix L is irreducible. It is obvious
that we can obtain

G = K −βω L.

Using matrix identities, we know that the spectrum of asymmetric matrix G

is equal to the spectrum of the symmetric matrix W = K −βω /2 LK −βω /2 , which
is semi-negative definite. Then, we can easily obtain the eigenvalues of G are
real-valued and are strictly negative except an eigenvalue 0 with multiplicity 1,
and G can be diagonalizable. Therefore, there exists a nonsingular matrix φ =
(φ1 , φ2 , · · · , φN ) ∈ RN ×N such that

φ −1 Gφ = Λ

with

Λ = diag(λ1 , λ2 , · · · , λN ).

λi , i = 1, 2, . . . , N, are the eigenvalues of G and

0 = λ1 > λ 2  λ 3  · · ·  λN .
14 2 Output Synchronization Criteria for Impulsive CDNs with Time-Varying Delay

Take a nonsingular transform

 T
(φ −1 ⊗ In )e(t) = ν(t) = ν1T (t), ν2T (t), · · · , νN
T
(t) ∈ RnN .

It follows from (2.5) that

⎧
⎪
⎪ ν̇(t) =[IN ⊗ D fˆ(h(t)) + aΛ ⊗ (CΓ1 C −1 )]ν(t)
⎪
⎪
⎪
⎪
⎨ + b[Λ ⊗ (CΓ2 C −1 )]ν(t − τ (t)), t = tk ,
(2.6)
⎪
⎪ Δν =Ik (ν), t = tk ,
⎪
⎪
⎪
⎪
⎩ ν(s) =(φ −1 ⊗ I )[Φ̂(s) − H (s)], s ∈ [−τ, 0],
n

where

ν(t − τ (t)) = (ν1T (t − τ (t)), ν2T (t − τ (t)), · · · , νN

T
(t − τ (t)))T ∈ RnN ,
Ik (ν) = (IkT (ν1 ), IkT (ν2 ), · · · , IkT (νN ))T
= (φ −1 ⊗ In )[(CIk (x1 ))T , · · · , (CIk (xN ))T ]T ,
Δν = [(Δν1 )T , (Δν2 )T , · · · , (ΔνN )T ]T .

In the following, two sufficient conditions are presented, ensuring the local
exponential output synchronization of impulsive complex network (2.1).
Theorem 2.3 Let τ̇ (t)  σ < 1. If there exist matrices P , Q > 0 and constants
ε > 0, μ > 0, M > 0, ηk  0, such that

W bP [Λ ⊗ (CΓ2 C −1 )]
 0, (2.7)
b[Λ ⊗ (CΓ2 C −1 )]T P −(1 − σ )e−ετ Q
μτ  inf{tk − tk−1 , k ∈ N}, (2.8)
Ik (νi )  ηk νi (tk− ), (2.9)
max{βk , k ∈ N}  M < eεμτ , (2.10)

where W = εP +aP (Λ⊗(CΓ1 C −1 ))+a(Λ⊗(CΓ1 C −1 ))T P +P (IN ⊗D fˆ(h(t)))+

(2η +η2 )P 
(IN ⊗ D fˆ(h(t)))T P + Q, βk = 1 + kλm (Pk ) , k ∈ N, i = 1, 2, · · · , N, then
impulsive complex network (2.1) achieves local exponential output synchronization.
Proof Construct Lyapunov functional for system (2.6) as follows
 t
V (t) = e ν (t)P ν(t) +
εt T
eεs ν T (s)Qν(s)ds. (2.11)
t−τ (t)

According to the definition of V (t) and Lemma 1.7, we can obtain

2.3 Main Results 15

V (t)  eεt λm (P )ν(t)2 . (2.12)

The derivative of V (t) along the solution of system (2.6) is given as follows:

V̇ (t)  εeεt ν T (t)P ν(t) + 2eεt ν T (t)P {[IN ⊗ D fˆ(h(t)) + aΛ ⊗ (CΓ1 C −1 )]ν(t)

+b[Λ ⊗ (CΓ2 C −1 )]ν(t − τ (t))} + eεt ν T (t)Qν(t)

−(1 − σ )eε(t−τ ) ν T (t − τ (t))Qν(t − τ (t))

 T  
ν(t) W bP [Λ ⊗ (CΓ2 C −1 )]
=
ν(t − τ (t)) b[Λ ⊗ (CΓ2 C −1 )]T P −(1 − σ )e−ετ Q
 
ν(t)
× eεt
ν(t − τ (t))

 0, t = tk , k ∈ N. (2.13)

Also
 tk−
εtk−
(ν(tk− ) + Ik (ν)) P (ν(tk− ) + Ik (ν)) +
T
V (tk ) = e eεs ν T (s)Qν(s)ds
tk− −τ (tk− )
− −
 V (tk− ) + 2ηk eεtk P ν(tk− )2 + ηk2 eεtk P ν(tk− )2
 βk V (tk− ). (2.14)

By (2.13) and (2.14), we have


k−1
V (t)  V (0) βi
i=1

 V (0)M k−1 , t ∈ [tk−1 , tk ), k ∈ N. (2.15)

tk−1
Since μτ  inf{tk − tk−1 , k ∈ N}, one has k − 1  μτ , which implies

lnM
M k−1  e μτ t , t ∈ [tk−1 , tk ), k ∈ N. (2.16)

Then, we have
lnM
V (t)  V (0)e μτ t , t ∈ [tk−1 , tk ), k ∈ N. (2.17)
16 2 Output Synchronization Criteria for Impulsive CDNs with Time-Varying Delay

On the other hand,

 0
V (0) = ν T (0)P ν(0) + eεs ν T (s)Qν(s)ds
−τ (0)

 (λM (P ) + τ λM (Q))Ξ 2τ , (2.18)

where Ξ (s) = (φ −1 ⊗ In )[Φ̂(s) − H (s)]. It follows from (2.12), (2.17) and (2.18)
that
1
λM (P ) + τ λM (Q) 2 (ε− lnM
μτ )t
ν(t)  Ξ τ e− 2 .
λm (P )

According to (2.10), system (2.6) is globally exponentially stable about its

zero solution. Obviously, we can conclude that impulsive complex network (2.1)
achieves local exponential output synchronization. The proof is completed.
Theorem 2.4 Let τ̇ (t)  σ < 1 and νi (tk ) = rik νi (tk− ).
(i) If rk2  1 for all k, then impulsive complex network (2.1) achieves local
exponential output synchronization if there exist matrices Q > 0, P = diag
{P1 , P2 , . . . , PN }, Pi > 0, and a positive constant ε, such that
 
W bP [Λ ⊗ (CΓ2 C −1 )]
0 (2.19)
b[Λ ⊗ (CΓ2 C −1 )]T P −(1 − σ )e−ετ Q

where i = 1, 2, · · · , N, k ∈ N, W = εP + aP (Λ ⊗ (CΓ1 C −1 )) + a(Λ ⊗

(CΓ1 C −1 ))T P + P (IN ⊗ D fˆ(h(t))) + (IN ⊗ D fˆ(h(t)))T P + Q, rk2 =
max{rik2 , i = 1, 2, · · · , N}.

(ii) If there exist k such that rk2 > 1, then impulsive complex network (2.1) achieves
local exponential output synchronization if LMI (2.19) and the following
conditions hold

μτ  inf{tk − tk−1 , k ∈ N}, μ > 0, (2.20)

max{rk2 , k ∈ N}  M < eεμτ . (2.21)

Proof Take the same Lyapunov functional V (t) as in Theorem 2.3. By the proof of
Theorem 2.3, we get that (2.12) and (2.13) hold. Furthermore,
 tk−
εtk− T
V (tk ) = e ν (tk− )R k P R k ν(tk− ) + eεs ν T (s)Qν(s)ds
tk− −τ (tk− )

 tk−
−
 rk2 eεtk ν T (tk− )P ν(tk− ) + eεs ν T (s)Qν(s)ds,
tk− −τ (tk− )
2.3 Main Results 17

where R k = diag(r1k In , r2k In , · · · , rN k In ). If rk2  1 for all k, we can get

V (tk )  V (tk− ).

Then, we have

V (t)  V (0). (2.22)

From the definition of V (0), there obviously exists a positive constant  such that

V (0)  Ξ 2τ . (2.23)

It follows from (2.12), (2.22) and (2.23) that

1
 2 εt
ν(t)  Ξ τ e− 2 .
λm (P )

Thus, we can conclude that the impulsive complex network (2.1) achieves local
exponential output synchronization. On the other hand, if there exist k such that
rk2 > 1, we can get

V (tk )  rk2 V (tk− ).

Then, we can obtain


k−1
V (t)  V (0) ϑi2
i=1

 V (0)M k−1 , t ∈ [tk−1 , tk ), k ∈ N,

where

rk2 , rk2 > 1, k ∈ N,
ϑk2 =
1, rk2  1, k ∈ N.

From (2.20), we have

lnM
V (t)  V (0)e μτ t , t ∈ [tk−1 , tk ), k ∈ N. (2.24)

It follows from (2.12), (2.23) and (2.24) that

1
 2 (ε− lnM
μτ )t
ν(t)  Ξ τ e− 2 .
λm (P )
Another random document with
no related content on Scribd:
 Fig. 105. Fig. 106.

The feather edge which is formed on the inside is removed by a

few strokes of a stone called a slip. Hold the slip firmly against the
face so as not to form a bevel. Fig. 106. Slips are of various sizes;
one that fits the curvature of the gouge should be selected.
56. Sharpening Plane-Irons.—Plane-irons are sharpened straight
across like the chisel, with the
exception of the jack plane, as previously noted. Their corners,
however, are very slightly rounded off to prevent their leaving marks
on the wood. Where one plane is made to serve the purpose of
smooth, jack and fore-plane, it should be ground straight across. In
whetting, increase the pressure on the edges alternately so as to
turn up a heavier feather edge there than in the middle, thus
rounding the whole end very slightly. This feather edge may be
removed in the usual manner.
57. To Tell Whether a Tool is Sharp or Not.—Examine the
cutting edge, holding
the tool toward the light. If the tool is dull, the cutting edge will
appear as a white line, the broader the line the blunter the edge. Fig.
107 A. If the tool is sharp, no white line can be seen. Fig. 107 B.
 Fig. 107. Fig. 108.

A better way—the method a mechanic would use—is to test the

edge by drawing the thumb along it lightly. Fig. 108. If the tool is
sharp one can feel the edge “taking hold.” If dull, the thumb will slide
along the edge as it would along the back of a knife blade.
Good judgment is necessary in this test or a cut on the thumb may
be the result. No pressure is required, just a touch along the edge at
various points.
What actually takes place is this: The cutting edge, if sharp, cuts
the outer layer, the callous part of the ball of the thumb, just a little.
The sense of feeling is so keen that the resulting friction, slight as it
is, is transferred to the brain of the worker long before any injury
need be done the thumb. If the tool is dull, no cut, hence no friction
can result. Do not use the finger, as it is not calloused as is the
thumb.
 CHAPTER VI.
Form Work, Modeling.

58. Making a Cylinder.—The cylinder is evolved from the square

prism by increasing the number of sides
until a prism is formed with so many sides that its surface can be
easily transformed into a cylinder by means of sandpaper.

Fig. 109.
 (1) Begin by making a square prism which shall have the same
dimensions for its width and thickness as is desired for the diameter
of the cylinder. (2) Change this square prism to a regular octagonal
or eight-sided prism by planing off the four arrises. The gage lines
which indicate the amount to be taken off of each arris are made by
holding the gage block against each of the surfaces and gaging from
each arris each way, two lines on each surface. These lines must be
made lightly. The distance at which to set the spur of the gage from
the head is equal to one-half the diagonal of the square end of the
prism. Fig. 109. Since the ends are less likely to be accurate than
any other part, it is advisable to get this distance as follows: Lay off
two lines on the working face a distance apart equal to the width of
the prism. These lines with the two arrises form a square the
diagonal of which can be measured and one-half of it computed.
 Fig. 110.

Carpenters in working on large timbers lay the steel-square

diagonally across so that there are twenty-four divisions from arris to
arris. They then mark off the timber at seven and seventeen inches.
Fig. 110. These numbers, while not mathematically correct, are near
enough for practical purposes. In planing the arrises off, the piece
may be held in the vise or placed against the bench-stop. Fig. 111.
Care must be taken not to plane over the lines, for not only is the
one side enlarged, but the adjacent side is lessened, thus
exaggerating the error. (3) Judging with the eye the amount to take
off, plane the eight arrises until there are sixteen equal sides.

Fig. 111.

Again plane the arrises, making the piece thirty-two sided. On a

small piece this will be sufficient; if the piece is large, the process
may be continued until the piece is practically a cylinder. (4) To finish
a small cylinder wrap a piece of sandpaper around it, rub lengthwise
until the surface of the wood is smooth and the piece feels like a
cylinder when revolved in the hand.
59. The Spokeshave.—Fig. 112. The spokeshave is used
principally to smooth curved surfaces. It
may be drawn toward or pushed away from the worker, whichever is
more convenient. By means of screws, the blade may be adjusted to
take light or heavy shavings. The spokeshave is practically a short
plane with handles at the sides, and in using it the aim should be, as
with the plane, to secure silky shavings of as great length as the
nature of the work will allow.

Fig. 112.

60. Making Curved Edges.—To make curved edges on a board,

finger-gage on each side lines which
shall indicate the amount of curvature. Fig. 113.

Fig. 113.

If the curve is to be a gradual one reaching from one of these lines

over the middle of the edge to the other two lines should also be
finger-gaged on the edge. Finger-gage from each side using a
distance equal to one-fourth the whole thickness of the piece.

Fig. 114. Fig. 115.

With the spokeshave, Fig. 114, carefully cut off the two arrises to
the pencil lines so as to form two bevels. This gives three surfaces to
the edge of the board. Estimating the amount with the eye, cut off
the two arrises formed by these three surfaces until five equal
surfaces are formed in their place. This process may be repeated
until the surface of the edge is practically a curved surface. With a
piece of sandpaper held as shown in Fig. 115, rub until the surface is
smooth and evenly curved.
61. Modeling.—This term is used to apply to the method of
making objects of such irregular form that the
judgment of the worker must be depended upon to give the correct
result without the aid of gage and knife marks. The forming of a
canoe paddle or a hammer handle are good illustrations.
 Fig. 116.

Generally a little forethought will show a way in which the piece of

work may be partly laid out with knife, square and rule. To illustrate,
take the hammer handle, Fig. 116. The steps would be as follows:
First, plane a face side and a face edge, and square the two ends so
that the piece shall have the length desired for the finished handle.
Second, draw a center line on the face side, parallel to the face edge
and lay off on either side of this the two straight lines which shall
indicate the amount of taper; also sketch in the lines of curvature.
Plane the two edges to the tapering lines and square with the face
side. Then cut to the curved lines, keeping this surface also square
with the face side. In a similar manner, lay off on the face edge a
center line parallel to the face side, mark the taper and lines of
curvature, and work these surfaces as in the second step. Third, the
piece may be laid off still further by drawing on the larger end the
form of the ellipse which that end is to assume. With spokeshave,
judging the curves of the middle with the eye, work out the desired
form. The steel scraper is to be used for finishing after the piece has
been made as smooth as is possible with the spokeshave.
 CHAPTER VII.
1. Laying Out Duplicate Parts. 2. Scraping and

Sandpapering. 3. Fastening Parts.

62. Laying out Duplicate Parts.—Frequently a piece of work will

require the making of two or more
like parts. To lay out these parts, that is, to mark out the location of
intended gains, mortises, shoulders of tenons, etc., so that all shall
be alike, the following method is used: (1) On the face edge of one of
the pieces measure off with the rule and mark with knife the points at
which the lines for the joints are to be squared across. If knife marks
would show on the finished surface as scratches, use a sharp pencil
instead. (2) Lay the pieces on the bench top with the face edges up;
even the ends with the try-square. Fig. 117. Square lines across the
edges of all of them at the points previously marked on one of them.
The pieces may then be separated and lines corresponding to the
lines just made on the face edges, be carried across the face sides
of each piece separately, the try-square beam being held against the
face edge in so doing, of course.
 Fig. 117.

In all duplicate work the aim of the worker should be to make as

much use as possible of the tool he has in hand before laying it
down and taking another. To illustrate, if there should be a number of
like parts each requiring two different settings of the gage, he should
mark all of the parts at the first setting, then all at the second setting
rather than to change the gage for each piece so that each piece
might be completely marked before another is begun.
63. Scraping.—In smoothing hard wood surfaces, a scraper will
be found helpful. If the grain should happen to be
crossed or curled, a scraper will become a necessity. The plane-iron
may be made ever so sharp and the cap-iron set ever so close to the
cutting edge, still the surface of some woods will tear. Sandpaper
must not be depended upon to smooth a torn surface.

Fig. 118.

Cabinet scrapers for plane and convex surface work are

rectangular pieces of saw steel. Fig. 118 shows a swan-neck scraper
suitable for smoothing concave surfaces.
Beginners frequently mistake surfaces which have been planed at
a mill for smooth surfaces. They are not; and, unless the “hills and
hollows” which extend across the surface of every mill-planed piece
of lumber are removed before the finish of stain or filler is applied,
the result will be very unsatisfactory.
These “hills and hollows” are present even in the smoothest of
mill-plane surfaces. The reason is easily understood. When a board
is mill-planed, it is run through a machine which has a flat bed over
which the board is moved and above which revolve two knives. Fig.
119. Unless the grain of wood is very badly crossed or curled, it will
be found very much easier, and time will be saved if the mill marks
are removed with a smooth-plane before the scraper is applied.
 A—Delivery Roller. D—Roller. G—Work Table.
B—Cutter Head. E—Roller. H—Knives.
C—Feed Roller. F—Board.

Fig. 119.

Scrapers may be pushed or pulled. Fig. 120. When properly

sharpened thin silky shavings will be cut off. The cutting edge of a
scraper is a bur which is formed at an arris and turned at very nearly
a right angle to the surface of the scraper.
 Fig. 120. Fig. 121.

When a scraper becomes dull (1) each edge is drawfiled, Fig. 121,
so as to make it square and straight, with the corners slightly
rounded. Sometimes the edges are rounded slightly from end to end
to prevent digging. Frequently the scraper has its edges and
surfaces ground square on an oilstone after the drawfiling that the
arrises may be formed into smoother burs. (2) After filing, the
scraper is laid flat on the bench and the arrises forced over as in Fig.
122. The tool used is called a burnisher; any smooth piece of steel
would do. (3) Next, turn these arrises back over the side of the
scraper. Fig. 123. Great pressure is not necessary to form the burs
properly.

Fig. 122. Fig. 123.

 64. Sandpapering.—To know when to use and when not to use
sandpaper is as much the sign of a good
workman as to know how to use the tools.
Sandpaper should never be used until all tool work has been done
as well, and carried as far as is possible. Sandpaper is, as its name
implies, sand paper. In sanding a surface, this fine sand becomes
imbedded in the wood and should an edged tool be used thereon it
will be dulled. Slovenly work should never be done in expectation of
using sandpaper to fix it up. This practice is dishonest. Sandpaper
should not be expected to do the work of edged tools or
disappointment will follow. The sandpaper sheet, for use, is usually
divided into four parts, one of these parts being of good size for large
work.

Fig. 124.

For flat surfaces these pieces are placed on a sandpaper block.

This block is but a piece of wood squared up to a length equal to that
of the piece of paper and to such a width that the edges of the paper
will extend far enough up the edges of the block to allow the fingers
to grasp them firmly. Fig. 124. Do not waste the paper by wrapping it
around in such a way as to throw part of it on top of the block. The
block should be held flat upon the surface when sanding near an
arris, otherwise the arris will be rounded. The arrises should be kept
sharp unless on a table leg, arm of a chair or something similar, in
which the sharp arrises would be likely to injure the hand or become
splintered through usage. In such cases the sandpaper may be run
along the arrises once or twice, just enough to remove the
sharpness. Sometimes the plane is set shallow and drawn over the
arris after the surfaces have been squared, to remove the
sharpness.
On curved surfaces, the sandpaper is held free in the hand, no
block being used. Fig. 115 illustrates the manner of sanding the
convex curve of the coat hanger. The sandpaper should be rubbed
along the grain and the rubbing should proceed only long enough to
smooth the piece and to bring out the grain clearly.
On the back of a piece of sandpaper will be found a number. This
number indicates the relative coarseness of the sand sprinkled upon
the glue covered paper. 00, 0, 1, 1¹⁄₂ and 2 are the numbers
commonly used; 00 being finest and 2 relatively coarse. On table
tops and surfaces which are not very smooth to begin with, the
coarse sandpaper is first used, this is followed by the next in
coarseness and so on until the finest is used.
Never attempt to sandpaper surfaces or parts which are to be put
together later on to form joints, the edge tools alone must be
depended upon to secure proper smoothing.
65. Hammers.—Fig. 125 shows the two kinds of hammers most
commonly used by workers in wood. The plain
faced hammer has a flat face and is somewhat easier to learn to use
than the bell-faced hammer, which has a slightly rounded face. The
advantage of the bell-faced hammer lies in one’s ability to better set
a nail slightly below the surface without the assistance of the nailset.
This is a very great advantage on outside or on rough carpenter
work. This setting of the nail with the hammer leaves a slight
depression, however, in the wood, and is therefore not suited for
inside finishing.
 Fig. 125.

The handle of the hammer is purposely made quite long and

should be grasped quite near the end.
66. Nails.—Nails originally were forged by hand and were
therefore very expensive. Later strips were cut from
sheets of metal and heads were hammered upon these by means of
the blacksmith’s hammer, the vise being used to hold the strips
meanwhile. These were called cut nails. Early in the nineteenth
century a machine was invented which cut the nails from the sheet
metal and headed them.
Steel wire nails have about supplanted the cut nails for most
purposes. They are made by a machine which cuts the wire from a
large reel, points and heads the pieces thus cut off.
Wire nails, like cut nails, are roughly classed by woodworkers as
common, finishing and casing nails. Thin nails with small heads are
called brads. Wire nails are bought and sold by weight, the size of
wire according to the standard wire gage and the length in inches
being taken into consideration in specifying the size and fixing the
price per pound.
In former practice, the size of nails was specified according to the
number of pounds that one thousand of any variety would weigh.
Thus the term sixpenny and eightpenny referred to varieties which
would weigh six and eight pounds per thousand, respectively, penny
being a corruption of pound. In present practice, certain sizes are still
roughly specified as three, four, six, eight, ten, twenty and thirty
penny.

Fig. 126.

Common wire nails are thick and have large flat heads. They are
used in rough work where strength is desired. Fig. 126 A. Finishing
nails, Fig. 126 B, are used for fine work such as inside woodwork,
cabinet work, etc. Casing nails, Fig. 126 C, are somewhat thicker
and stronger than finishing nails; they have small heads.
67. Nailing.—Especial care is necessary in starting cut nails. Fig.
127 shows two views of a cut nail. From these it will be
seen that the sides of the nail form a wedge in one of the views while
in the other they are parallel. The nail should be so started that the
wedging action shall take place along, not across the grain.
 Fig. 127. Fig. 128.

In nailing through one piece into the edge of another, assume a

position so that you can look along the piece into the edge of which
you are nailing. Fig. 128. If the nail is to be driven plumb, it must be
sighted from two directions several times in the beginning of the
nailing. Having driven the points of the nails slightly below the
surface of the first piece, adjust the two pieces properly, force the