I nternational Journal Of Computational Engineering Research (ijceronline.com) Vol. 3 Issue.

Synchronization, Anti-Synchronization and Hybrid-Synchronization Of A Double Pendulum Under The Effect Of External Forces
Ayub Khan1, Priyamvada Tripathi,2
1.

Depart ment Of Mathematics, Zakir Husain Delhi Co llege, Un iversity Of Delhi, Delh i110002, India 2. Depart ment Of Mathematics, University Of Delh i, Delhi110007, India;

Abstract
In the present manuscript, an investigation on synchronization, anti -synchronization and hybridsynchronization behavior of a double pendulum under the effect of external fo rces using active control technique based on the Lyapunov stability theory and the Routh-Hurwit z criteria, have been made. The designed controller with a new choice of co-efficient matrix of the error-dynamics are found to be effective in the stabilizat ion of error states at the origin, thereby achieving synchronization between the states variables of two dynamical systems under consideration. Nu merical simu lations have been presented to illustrate the effectiveness of the proposed control techniques using mathematica.

Keywords: Double Pendulum under the effect of external forces, Lyapunov stability theory and Routh - Hurwitz
Criteria, Synchronizat ion, Anti-synchronization and Hybrid- synchronization.

1 Introduction
Classically, synchronization means adjustment of rhythm of self-sustained periodic oscillations due to their weak interaction and this adjustment can be described in terms of phase -locking and frequency entrainment. In the modern context we call such type of objects as rotators and chaotic systems. The history of synchronization actually goes back to the 17th century. In 1673, when the famous Dutch scientist Huygens [1] observed weak synchronization of two double pendulum clocks, which is about two model shape of vibration. He had invented shortly before: It is quite worth noting that when we suspended two clocks so constructed from two hooks imbedded in the same wooden beam, the motion of each pendulum in opposite swings were so much in agreement and sound of each was always heard simu ltaneously. Furthermore he described that if one of the pendulum was disturbed by interference, it would return back to its normal state. This was first discovery of synchronization. After careful observation, finally he found that the cause of this is due to motion of the beam, even though this is hardly perceptible [2].Synchronization of periodic selfsustained oscillators are based on the existence of a special variable, called phase. If the coupled two pendulums have small oscillations with the same initial conditions or the zero initial phase difference, the two pendulums will be synchronized. If the in itial phase difference is 180, the anti-synchronization of two pendulums can be observed. For a general case, the motion of the two pendulums will be combined by the synchronization and anti-synchronization modes of vibration.The recent progress on the Huygens synchronization was presented in [3]. Chaotic synchronization did not attract much attention until Pecora and Carroll [4] introduced a method to synchronize two identical chaotic systems with different init ial conditions in 1990. Fro m then on, enormous studies have been done by researchers on the synchronization of dynamical systems. In 1994, Kap itaniak [5] used continuous control to achieve a synchronization of two chaotic systems. In 1996, Peng et al.[6] presented chaotic synchronization of n-dimensional system. In the past few decades, the concept of synchronization fro m the traditional point of view has also been extended. In 2002, Boccaletti et al. [7] gave a review on the synchronization of chaotic systems and clarified definit ions and concepts of dynamical system synchronization. In 2004, Co mpos and Urias [8] mathematically described multimodel synchronization with chaos, and introduced a multi -valued synchronized function. In 2005, Chen [9] investigated the synchronization of two different chaotic systems. Such synchronization is based on the error dynamics of the slave and master systems. The active control functions were used to remove non -linear terms, and the Lyapunov function was used to determine the stability of the synchronization. Lu and Cao [10] used the similar technique of Chen [9] to discuss the adaptive complete synchronization of two identical or different chaotic systems with unknown parameters. Thus in the continuation, a wide variety of methods have successfully been applied to achieve synchronization of chaotic systems. These methods including adaptive control [11, 12], backstepping design [13, 14, 15], active control [16, 17, 18] nonlinear control [19, 20, 21, 22] and observer based control method [23, 24]. Using these methods, numerous synchronization problem of well-known chaotic systems such as Lorenz, Chen, Lu and Rossler system have been worked on by many researchers. Recently, Ge et al. [25, 26, 27, 28, 29, 30] also studied
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chaotic synchronization of many practical physical systems and obtained interesting results. Among these methods, chaos synchronization using active control has recently been widely accepted because it can be used to synchronize identical as well as non-identical systems. In order to achieve stable synchronization this method has been applied to many practical systems such as the electronic circuits, in which model there is third order Jerk equation [31], Lore n z, Chen and Lu system [32], geophysical systems [33], nonlinear equations waves (Lorenz Stenflo system)[34], Van -der Pol-duffing oscillator [35], forced damped pendulum [36], RCL-shunted Josephson function [37], modified project ive synchronization [38]. In this paper, we have applied the active control techniques based on Lyapunov stability theory and Routh-Hurwit z criteria to study the synchronization, anti-synchronization and hybrid synchronization behavior of a double pendulum under the effect of external forces. It is well known that double pendulum is a chaotic system, its long term behavior can not be predicted. Slight changes in the initial conditions can result in drastic long term differences. If one starts the system at slightly different angles, perhaps by fraction of a degree, the resulting motion will not look same in the long run. In synchronization, two systems (master and slave) are synchronized and start with different initial conditions. The problem may be treated as the design of control laws for full chaotic slave system using known informat ion of the master system so as to ensure that the controlled receiver synchronizes with the master system. Hence, the slave chaotic system completely traces the dynamics of the master system in the course of time. The aim of this study is to investigate the synchronization, anti-synchronization and hybrid synchronization of a double pendulum under the effect of external forces.

2 Equations of Motion Of Double Pendulum Under The Effect Of External Forces

In the figure given below, a double pendulum consists of two point masses m1 and m2 connected by massless rods to the pivot point. Let 1 and 2 are the lengths of rods respectively and 1 and 2 be the angles that two rods make with the vertical. Let F be the external force exerted on the pivot point by pendulum and be the angle that F makes with rod 1.

Fig. 1

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3 Synchronization Via Active Control

The systems defined by (1) and (2) can be written as a system of four first order differential equat ions, the four variables are introduced as below:

After expanding trigonometrical terms and neglecting higher order terms only (for reducing non -linearity) in the above equations, we get:

where ui(t), i = 1, 2, 3, 4 are control functions to be determined. Now defining error functions such that in synchronization state lim ei(t) 0, i = 1, 2, 3, 4. t e1 = y1 - x1 e2 = y2 - x2 e3 = y3 - x3 e4 = y4 - x4 and the error dynamics are expressed as:

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The error dynamical system (7) to be controlled must be a linear system with control inputs. Therefore we redefine the control functions such as to eliminate non-linear terms in e1(t), e2(t), e3(t) and e4(t) of equation (7) as follows:

using (7) and (8), we have

where B is 44 co-efficient matrix. According to the Lyapunov stability theory and Routh-Hurwit z criteria, eigenvalues of the co-efficient matrix of error system must be real or co mp lex with negative real parts. We can choose elements of matrix arbit rarily; there are several ways to choose in order to satisfy Lyapunov and Routh -Herwit z criteria. Consequently, for
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(11)

becomes a matrix with eigen values having negative real parts and equation (10) reduces to

(12)

Thus, by Lyapunov stability theory, the error dynamical system (12) is stable. 4 . Numerical Si mulation For Synchronization For the parameters involved in system under investigation, T1 = 1, T2 = 2, 1 = 1, 2 = 2, m1 = 1,m2 = 1 and g = 9.8m/s2 with the init ial conditions for master system and slave system [x1(0), x2(0), x3(0), x4(0)] = [3.5, 0.4,- 3.5, 0.4] And [y1(0), y2(0), y3(0), y4(0)] = [1.5, 0.2,- 0.5, 0.8] respectively. We have simulated the system under consideration using mathemat ica. Phase portraits and time series analysis of master and slave system are the witness of irregular behavior of system (see figures 2, 3, 4 and 5). For [e1(0), e2(0), e3(0), e4(0)] = [- 2, 0.2, 3, 0.4] convergence diagrams of errors are the witness of achieving synchronization between master and slave systems (see figure 6).

5 Anti-Synchronization Via Active Control

In order to formu late the active controllers fo r anti-synchronization we need to redefine the erro r functions as, e1 (t) = y1 + x1, e2 (t) = y2 + x2, e3 (t) = y3 + x3, e4 (t) = y4 + x4. Accordingly, error dynamics are:

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In order to express (13) as only linear terms in e1(t ), e2(t), e2(t) and e4(t), we redefine the control functions as follows:

Furthermore, as in the previous case we choose v1(t), v2(t), v3(t) and v4(t) as fo llo ws:

where B is given by (11) whose eigen values have negative real parts. Thus by Lyapunov stability theory, the error dynamical system (15) is stable.
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6 Numerical Simulation For Anti-Synchronization

For the parameters involved in system under investigation, T1 = 1, T2 = 2, 1 = 1, 2 = 2, m1 = 1, m2 = 1 and g = 9.8m/s2 with the in itial conditions for master and slave systems [x1(0), x2(0), x3(0), x4(0)] = [3.5, 0.4,-3.5, 0.4] and [y1(0), y2(t), y3(0), y4(0)] = [1.5, 0.2,-0.5, 0.8] respectively. We have simulated the system under consideration using mathematica. Phase portraits and time series analysis of master system and slave system are the witness of irregular behavior of system (see figures 2, 3, 4 and 5). For [e1(0), e2(0), e3(0), e4(0)] = [5, 0.6,4.0, 1.2] convergence diagram of errors are the witness of achieving anti-synchronization between master and slave system (see figure 7).

7 Hybrid Synchronization Via Active Control

The idea of the hybrid synchronization is to use the output of the master system to control the slave system so that the odd outputs of the two systems are completely synchronized, wh ile the even outputs of the two systems are anti-synchronized so that both complete synchronization and anti-synchronization persist in the synchronization of master and slave systems. In order to formulate the active controllers for hybrid synchronization we are redefining the error functions in the following three ways:

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The error dynamical system (16) to be controlled must be a linear system with control inputs. Therefore we redefine the control functions such as to eliminate non-linear terms in e1(t), e2(t), e3(t) and e4(t) of (16) as follows:

and (18) reduces to

where B is given by (11), whose eigen-values have negative real parts. Thus, by Lyapunov stability theory, the error dynamical system (18) is stable.
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8 Numerical Simulation For Hybrid Synchronization

For the parameters involved in system under investigation, T1 = 1, T2 = 2, 1 = 1, 2 = 2, m1 = 1, m2 = 1 and g = 9.8m/s2 with the init ial conditions of master and slave systems [x1(0), x2(0), x3(0), x4(0)] = [3.5, 0.4,-3.5, 0.4], and [y1(0), y2(0), y3(0), y4(0)] = [1.5, 0.2,-0.5, 0.8] respectively. We have simulated the system under consideration by using mathemat ica. Phase portraits and time series analysis of master and slave system are the witness of irregulars behavior of the system (see figures 2, 3, 4 and 5) and fo r [e1(0), e2(0), e3(0), e4(0)] = [-2, 0.6, 3, 1.2] convergence diagram of errors are the witness of achieving hybrid synchronization between master and slave system (see figure 8). Figures are given below:

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9 Conclusion
An investigation on synchronization, anti-synchronization and hybrid synchronization of the double pendulum under the effect of external forces via active control technique based on Lyapunov stability theory and Routh -Hurwitz criteria have been made. The results are validated by numerical simu lations using mathemat ica.

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