Output Global Oscillatory Synchronization of Heterogeneous Systems

Hafiz Ahmed, Rosane Ushirobira, Denis Efimov, Leonid Fridman, Yongqiang Wang

Research output: Contribution to journalArticle


The global output synchronization problem for heterogeneous nonlinear systems having relative degree 2 or higher is studied. The proposed approach consists in two steps. First, a partial projection of individual subsystems into the Brockett oscillators is performed using a sliding-mode control. Second, the network of these oscillators is synchronized using the global synchronization results of a particular second order nonlinear oscillator model from Ahmed et al. (2019). Our approach is based on output feedback and uses a higher order sliding mode observer to estimate the states and perturbations of the synchronized nonlinear systems. Along with numerical simulations, the performance of the proposed synchronization scheme is experimentally verified on a network of Van der Pol oscillators.
Original languageEnglish
Pages (from-to)(In-press)
JournalInternational Journal of Control
Early online date7 Nov 2019
Publication statusE-pub ahead of print - 7 Nov 2019


  • Output synchronization
  • Sliding mode observation
  • Van der Pol oscillator
  • Real-time control

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