Robust synthesis for master-slave synchronization of Lur'e systems

In this paper a method for robust synthesis of full static-state error feedback and dynamic-output error feedback for master-slave synchronization of Lur'e systems is presented. Parameter mismatch between the systems is considered in the synchronization schemes. Sufficient conditions for uniform synchronization with a bound on the synchronization error are derived, based on a quadratic Lyapunov function. The matrix inequalities from the case without parameter mismatch between the Lur'e systems remain preserved, but an additional robustness criterion must be taken into account. The robustness criterion is based on an uncertainty relation between the synchronization error bound and the parameter mismatch. The robust synthesis method is illustrated on Chua's circuit with the double scroll. One observes that it is possible to synchronize the master-slave systems up to a relatively small error bound, even in the case of different qualitative behavior between the master and the uncontrolled slave system, such as limit cycles and stable equilibria.