Parameter identication and

synchronization of spatio-temporal chaotic

systems with a nonlinear observer
L. Torres

G. Besan con
,
C. Verde

D. Georges

Instituto de Ingeniera, UNAM, 04510 DF, Mexico, Mexico

(ftorreso@iingen.unam.mx, verde@unam.mx).

Control Systems Dep., Gipsa-lab, Grenoble INP, BP46, 38402

Saint-Martin dH`eres, France (Gildas.Besancon@gipsa-lab.inpg.fr)

Institut Universitaire de France

Abstract: This paper presents a new approach to synchronize spatio-temporal systems includ-
ing parametric identication as goal. The paper concentrates on generalized synchronization with
a so-called Master-Slave (unidirectional) topology. The approach deals with the construction of
a nonlinear observer to estimate the parameters of a Master system, such that the estimates
can be used on-line by a Slave system to synchronize with the Master. Both, the Master and
the Slave system, are approximated by the Finite Dierence Method.
Keywords: Nonlinear observer, synchronization, parameter identication, chaotic systems,
spatio-temporal systems.
1. INTRODUCTION
Several physical phenomena in nature are modeled by
extended spatio-temporal equations such as partial dier-
ential equations (PDE), coupled map lattices or coupled
ordinary dierential equations. As examples, one has the
uid systems, the coupled electrical oscillators, the optical
and biological systems, the chemical reactions, etc.
Under certain parametric or initial conditions, some ex-
tended spatio-temporal systems present a chaotic behavior
in time and space. Some of these conditions are studied in
Pikovsky et al. (2001) together with the chaotic properties
of the spatio-temporal systems such as their interaction
and synchronization. In fact, the synchronization of this
type of systems is widely studied due to its multiple
applications in dierent areas.
For example, in Kocarev et al. (1997), a few examples are
mentioned where the study of synchronization problem
is relevant: re-entry initiation in coupled parallel bers,
dynamics of multi-layered natural and articial neural
networks, thermal convection in multi-layered media, and
systems which consist of several spatially extended systems
that are weakly coupled, an example being the electrohy-
drodynamical convection in liquid crystals.
Given the importance of the synchronization of spatio-
temporal systems, scientists have developed some tech-
niques to deal with this issue over the last 20 years. For
instance, Boccaletti et al. (1999, 2005); Junge and Parlitz
(2000); Duane and Tribbia (2001); Khadra et al. (2005).
Each one of those techniques has been developed to deal
with specic models and/or a particular type of synchro-
nization (see Rajesh et al. (2007)), among which one can
nd: complete synchronization, lag synchronization, gen-
eralized synchronization, phase synchronization, etc.
The present paper focuses on generalized synchronization
with a so-called Master-Slave (unidirectional) topology.
This corresponds to the situation where two dynamical
systems are considered, one being seen as a Master and
the second one as a Slave, the aim being to synchronize
with the master the complete response of the slave, by
driving the latter with a signal derived from the master
system. This topology is very intensely studied due to its
potential application in communications (see for instance
Lu et al. (2002); Celikovsk y and Chen (2005)).
From a Control Theory point of view, the Master-Slave
topology can be seen as a functional observation problem,
where the state observers can be considered as slaves
systems that synchronize with a master system through
the available measurement provided by the master.
Synchronization by means of state observers is an approach
which has early been discussed in Morg ul and Solak (1996);
Nijmeijer and Mareels (1997), and for which various proce-
dures have been proposed since that time (see e.g. Azemi
and Yaz (2000); Millerioux et al. (2005); Cherrier et al.
(1997); Torres et al. (2012b)).
As in many other synchronization approaches, the ef-
fectiveness of some observer-based methods can only be
assured if the slave system parameters match accurately
enough the master system parameters, which may not
be guaranteed in advance. Even if some approaches can
assure synchronization with parameter mismatching, in
some cases the knowledge of these is important for other
purposes. Hence, parameter estimation in chaotic systems
has become a hot research topic in various elds of non-
2012 IFAC Conference on Analysis and Control of Chaotic Systems
The International Federation of Automatic Control
June 20-22, 2012. Cancn, Mxico
978-3-902823-02-1/12/$20.00 2012 IFAC 267
10.3182/20120620-3-MX-3012.00022
linear science. See for instance, Wang and Xu (2011), Dai
et al. (2002), Peng et al. (2009).
State observers can be used as a good alternative for such
estimation purposes, because of their natural structure
for on-line estimation: as mentioned above, they can be
used as slave systems that must synchronize with the
dynamics of a master system, and in addition estimate
the parameters of this master. This possibility has already
been experimented in Besan con et al. (2006); Loria et al.
(2009); Torres et al. (2012b) for instance, where it indeed
appears that the estimation of parameters during synchro-
nization can be addressed by the use of adaptive observers.
Such observers usually require some specic excitation (so-
called persistent excitation) to guarantee their convergence
(the synchronization). The reason in those works was that
chaotic behaviors can be expected to provide such an ex-
citation. In the present paper, we propose a new approach
which uses an observer with exponential stability for the
purpose of parametric identication and synchronization
of chaotic systems: this observer combines the well-known
Extended Kalman Filter (EKF) Gelb (1984), with the
high gain technique originally proposed in Gauthier et al.
(1992) for so-called uniformly observable systems. The
observer is fully presented in Torres et al. (2012a).
The main characteristic of the new approach is the use of
an observer for the estimation of the parameters of spatio-
temporal systems, such that the estimates can be used
on-line by a Slave system for its synchronization with a
Master. The Slave system is conceived to have the same
spatial size as the Master system, such that they can be
synchronized along the spatial domain.
The main dierence with respect to other approaches
which use adaptive observers for the parameter identi-
cation and synchronization, it is the exclusive use of the
observer for the parameter identication, as well as the
coupling of the observer with the Slave system through
the estimates.
In order to illustrate the proposed approach, an example
of synchronization is presented with the Gray Scott equa-
tions.
In Section 2, the structure of the exponential nonlinear ob-
server is presented. In section 3, the Gray-Scott equations
are introduced. Section 4 is dedicated to the construction
of the appropriate structure for the observer by means
of an immersion methodology presented in Besan con and
T iclea (2007). In Section 5, the observer coupled with
an extended system for the synchronization is presented
together with simulation results. Finally, in Section 6,
some conclusions are mentioned.
2. THE EXPONENTIAL NONLINEAR OBSERVER
The proposed observer is based on a state-space represen-
tation with the system structure:

=A(u, y) + B(u, )
y =C(u) + D(u)
(1)
where the involved matrices read as:
A(u, y) =
_
_
_
_
0 A
12
(u, y) 0
.
.
.
A
q1q
(u, y)
0 0
_
_
_
_
B(u, ) =
_
_
_
_
_
_
B
1
(u,
1
)
B
2
(u,
1
,
2
)
.
.
.
B
q1
(u,
1
, . . . ,
q1
)
B
q
(u, )
_
_
_
_
_
_
and
C(u) = ( C
1
(u) 0 . . . 0 ) ,
with z = col(
1
, . . . ,
q
) R
N
,
1
R
N1
, C
1
(u) R
1N1
and
i
R
Ni
, A
i1 i
R
Ni1Ni
for i = 2 . . . q.
Notice that from this structure, the possibility to recover
the states from the only information of y (observability)
depends on the inputs.For observer convergence, a specic
excitation condition is then be required, dened in terms
of inputs, as in Bornard et al. (1995); Besan con (1999);
Besan con and T iclea (2007):
Denition 1. (Locally regular inputs). An input function
u is said to be locally regular for system (1) if there exist
> 0,
0
> 0 such that for all
0
all t
1

and all
x
0
R
N
:
_
t
t
1

u,x0
(, t)
T
C
T
(u)C(u)
u,x0
(, t)d
2
()
where
() =
_
_
_
_
I
N1
0

2
I
N2
.
.
.
0
q
I
Nq
_
_
_
_
(2)
and
d
u,x0
(, t)
d
= A(u(), y
u,x0
())(, t)
u,x0
,
(t, t) = I
N
,
with y
u,x0
(t) denoting the output trajectory of system (1)
under input u when starting from state x
0
at t = 0 and I

denoting the identity matrix in R

.
The observer to be presented recovers equations of a classi-
cal Extended-Kalman-Filter with a convergence condition.
This is done in the same spirit as the so-called high-gain
EKF proposed in Gauthier and Kupka (2001) or discussed
in Boizot and Busvelle (2007) for the particular case of
uniformly observable structures (observability independent
of the inputs), but extended to our case of possibly non
uniformly observable systems.
Theorem 1. Assuming bounded locally regular inputs u
(Denition 1) making A(u, y) bounded, if B is globally
Lipschitz in uniformly in u, then there exists an exponen-
tial observer which can be designed as follows: For every
> 0, there exist , > 0 such that the observer:

=A(u, y)

+ B(u,

) + ()SC
T
(u)(y y);
y =C(u)

+ D(u) (3)

S =(S + [A(u, y) + dB

(u,

)]S
+S[A(u, y) + dB

(u,

)]
T
SC
T
(u)C(u)S)
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June 20-22, 2012. Cancn, Mxico
268
with () as in (2), dB

=
1

1
()
B

(), and initial

conditions z(0) R
N
, S(0) 0, ensures:
(t)

(t) e
t
, > 0, t
1

.
This result can be established with similar arguments as in
Besan con and T iclea (2007) on the one hand, and Gauthier
and Kupka (2001) on the other hand. Full details of the
proof are presented in Torres et al. (2012a).
3. THE GRAY-SCOTT MODEL
The Gray-Scott cubic auto-catalysis model presented in
Gray and Scott (1983) is a reaction-diusion system which
corresponds to two irreversible reactions. This model ex-
hibits mixed mode spatiotemporal chaos and is described
by the following equations:
u
1
t
=u
1
u
2
2
+ a(1 u
1
) + d
1

2
u
1
(4)
u
2
t
=u
1
u
2
2
(a + b)u
2
+ d
2

2
u
2
where u
1
and u
2
represent the substrate and activator
concentration, respectively, b is the dimensionless rate
constant of the second reaction, a is the dimensionless feed
rate, d
1
and d
2
are the diusion constants.
A nite-dimensional version of Eq. (4) has been obtained
in Khadra et al. (2005) by using the Finite Dierence
Method (FDM). Such a version is expressed as in Eq. (5)
hereafter, where notation u
(k)
i
are used to denote spatially
discretized values of u
i
, with i = 1, 2, k = 1, j, N and
j = 2, ..., N 1.
u
(0)
1
=u
(0)
1
_
u
(0)
2
_
2
+ a
_
1 u
(0)
1
_
+ d
1
s
1
1
u
(0)
2
=u
(0)
1
_
u
(0)
2
_
2
(a + b)u
(0)
2
+ d
2
s
1
2
u
(j)
1
=u
(j)
1
_
u
(j)
2
_
2
+ a
_
1 u
(j)
1
_
+ d
1
s
j
1
(5)
u
(j)
2
=u
(j)
1
_
u
(j)
2
_
2
(a + b)u
(j)
2
+ d
2
s
j
2
u
(N)
1
=u
(N)
1
_
u
(N)
2
_
2
+ a
_
1 u
(N)
1
_
+ d
1
s
N
1
u
(N)
2
=u
(N)
1
_
u
(N)
2
_
2
(a + b)u
(N)
2
+ d
2
s
N
2
with
s
1
1
=
2u
(0)
1
5u
(1)
1
+ 4u
(2)
1
u
(3)
1
(z)
2
, (6)
s
1
2
=
2u
(0)
2
5u
(1)
2
+ 4u
(2)
2
u
(3)
2
(z)
2
, (7)
s
j
1
=
u
(j+1)
1
2u
(j)
1
+ u
(j1)
1
(z)
2
, (8)
s
j
2
=
u
(j+1)
2
2u
(j)
2
+ u
(j1)
2
(z)
2
, (9)
s
N
1
=
2u
(N)
1
5u
(N1)
1
+ 4u
(N2)
1
u
(N3)
1
(z)
2
, (10)
s
N
2
=
2u
(N)
2
5u
(N1)
2
+ 4u
(N2)
2
u
(N3)
2
(z)
2
. (11)
In what follows, two simulation examples are presented in
order to illustrate the behavior of the nite-dimensional
system (5). In the rst example, initial conditions peri-
odically depending on the space are used, whereas in the
second example, random initial conditions are employed.
Then, it will be noticed that the chaotic behavior of the
system is mostly present in the second case.
Example 1. The parameters of model (5) are xed as
a = 0.09, b = 0.09, d
1
= 0.01 and d
2
= 0.03, while the
initial conditions are set to u
1
(z, 0) = 1 +0.01 sin(
z
L
) and
u
2
(z, 0) = 0.2 sin(
z
L
). The number of sections is chosen
as N = 257 and the sample time is set to t
e
= 0.1.
Fig. 1 shows the behavior of u
1
(z, t), meanwhile Fig. 2
exposes the response of u
2
(z, t).
Fig. 1. Phase portrait in 3D of the response of u
1
(z, t)
Fig. 2. Phase portrait in 2D of the spatio-temporal evolu-
tion of u
2
(z, t)
Example 2. The parameters of model (5) are xed as
L = 3000, a = 0.09, b = 0.09, d
1
= 0.01 and d
2
= 0.03.
The initial conditions u
1
(z, 0) and u
2
(z, 0) are chosen to
be random. The number of sections is xed as N = 257.
The sample time of the simulation is set to t
e
= 0.1.
Fig. 3 shows the evolution of u
1
(z, t), whereas Fig. 4
exposes the behavior of u
2
(z, t). From these results, it
can be veried the strong dependence of the system on the
initial conditions, which is one of the main characteristics
of chaotic systems.
CHAOS'12
June 20-22, 2012. Cancn, Mxico
269
Fig. 3. Phase portrait in 3D of the response of u
1
(z, t)
Fig. 4. Phase portrait in 2D of the spatio-temporal evolu-
tion of u
2
(z, t)
4. PARAMETER ESTIMATION OBSERVER DESIGN
This section presents the design of an observer to estimate
parameters a, b, d
1
, d
2
of the Master system which are
supposed to be unknown.
In order to construct such an observer, an adequate system
must be obtained. For this, let us consider the boundary
conditions of the Master system, u
(0)
1
, u
(0)
2
, as the states
and the outputs of the new system. In addition, the
functions (6) and (7) are employed as inputs of the new
system. From these considerations, system given by Eq.
(12) is constructed.
u
(0)
1
=u
(0)
1
_
u
(0)
2
_
2
+ a
_
1 u
(0)
1
_
+ d
1
_
2u
(0)
1
+ s
1
1
z
2
_
u
(0)
2
=u
(0)
1
_
u
(0)
2
_
2
(a + b)u
(0)
2
+ d
2
_
2u
(0)
2
+ s
1
2
z
2
_
(12)
By means of the dieomorphism:
(u) : u

= [
u
(0)
1
, a, d
1
, u
(0)
2
, b, d
2
],
the suitable system (1) is obtained, for an observer as
in Eq. (3). The observer is given by Eq. (13) hereafter,
where K = ()SC
T
(u) is the gain with S computed as
in Theorem 1, y
(0)
= [u
(0)
1
, u
(0)
2
] are the outputs (driven
signals) taken from the Master system (5), meanwhile
y
(0)
= [

1
,

2
] are the estimated ouputs provided by the
observer (13).

=
_
_
_
_
_
_
_
_
_
_
_
0
_
1 y
(0)
1
_
_
2y
(0)
1
+ s
1
1
z
2
_
0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 y
(0)
2
_
2y
(0)
2
+ s
1
2
z
2
_
0
0 0 0 0 0 0
0 0 0 0 0 0
_
_
_
_
_
_
_
_
_
_
_
. .
A(u,y)

+
_
_
_
_
_
_

2
4
0
0

4
+
1

2
4
0
0
_
_
_
_
_
_
. .
B(u,

)
+K(y
(0)
y
(0)
);
y
(0)
= [

1
,

2
]
T
At this point, it is necessary to recall that the aim of the
observer is only the estimation of the parameters, such
that they can be used by a Slave system to synchronize
with the Master.
5. SIMULTANEOUS SYNCHRONIZATION
Let us consider, as a Slave of system (4), the following
system:

1
t
=
1

2
2
+

2
(1
1
) +

1
+ (y
1

1
) (13)

2
t
=
1

2
2
(

2
+

5
)
2
+

2
+ (y
2

2
)
where

2
,

3
,

5
and

6
are injected from the observer (13).
A spatial approximation of system (13) is given by the
Eq. (14), where u
(0,...,N)
1
and u
(0,...,N)
2
taken from system
(5) are considered as the measured outputs redened as
follows:
y
(0,...,N)
1
:= u
(0,...,N)
1
, y
(0,...,N)
2
:= u
(0,...,N)
2
To end this section, an example illustrating the synchro-
nization is presented.
Example 3. The parameters of model (5) are xed to
a = 0.09, b = 0.09, d
1
= 0.1 and d
2
= 0.3, whereas
its initial conditions are set to u
1
(z, 0) = 1+0.01 sin(
31z
L
)
and u
2
(z, 0) = 0.2 sin(
31z
L
).
The observer is tuned with S(0) = I
d
, = 2 and = 1,
while its initial conditions are adjusted as

1
(0) = 0.5,

2
(0) = 0.2,

3
(0) = 0.2,

4
(0) = 0.004,

5
(0) = 0.2,

6
(0) = 0.1.
The initial conditions
1
(z, 0) and
2
(z, 0) of the Slave
system (14) are chosen to be random. Finally, the sample
time for the simulation is specied t
e
= 0.08, and the
number of sections for the Master and Slave systems is
set to N = 257.
Fig. 5 shows the successful estimation of the parameters,
whereas Fig. 6 shows the phase portraits in 3 dimensions
corresponding to u
1
(z, t) given by the Master and
1
(z, t)
given by the Slave. Finally, Fig. 7 exhibits the error
between u
2
(z, t) corresponding to the Master system and
CHAOS'12
June 20-22, 2012. Cancn, Mxico
270

(0)
1
=
(0)
1
_

(0)
2
_
2
+

2
_
1
(0)
1
_
+

3
2
(0)
1
5
(1)
1
+ 4
(2)
1

(3)
1
(z)
2
+ [y
(0)
1

(0)
1
]

(0)
2
=
(0)
1
_

(0)
2
_
2
(

2
+

5
)
(0)
2
+

6
2
(0)
2
5
(1)
2
+ 4
(2)
2

(3)
2
(z)
2
+ [y
(0)
2

(0)
2
]

(j)
1
=
(j)
1
_

(j)
2
_
2
+

2
_
1
(j)
1
_
+

(j+1)
1
2
(j)
1
+
(j1)
1
(z)
2
+ [y
(j)
1

(j)
1
] (14)

(j)
2
=
(j)
1
_

(j)
2
_
2
(

2
+

5
)
(j)
2
+

(j+1)
2
2
(j)
2
+
(j1)
2
(z)
2
+ [y
(j)
2

(j)
2
]

(N)
1
=
(N)
1
_

(N)
2
_
2
+

2
_
1
(N)
1
_
+

3
2
(N)
1
5
(N1)
1
+ 4
(N2)
1

(N3)
1
(z)
2
+ [y
(N)
1

(N)
1
]

(N)
2
=
(N)
1
_

(N)
2
_
2
(

2
+

5
)
(N)
2
+

6
2
(N)
2
5
(N1)
2
+ 4
(N2)
2

(N3)
2
(z)
2
+ [y
(N)
2

(N)
2
]
5 10 15 20 25
0.5
0.4
0.3
0.2
0.1
0
0.1
0.2
0.3
0.4
0.5
t[s]


5 10 15 20 25
0.05
0.15
0.25
0.35
t[s]


a

1
b

5
d
1

2
d
2

6
Fig. 5. Parameter estimation results

2
(z, t) corresponding to theSlave. From these gures, it
can be concluded that synchronization and the parameters
estimation are indeed achieved.
6. CONCLUSION
The main purpose of the present paper has been to show
how a recent observer can successfully be used to estimate
parameters of spatio-temporal systems for the unidirec-
tional synchronization between two of them. The perfor-
mance of the observer together with the synchronization
has been successfully checked through simulation tests.
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