Nonlinear Dyn (2012) 67:13971406

DOI 10.1007/s11071-011-0076-5
ORI GI NAL PAPER
Projective synchronization of neural networks with mixed
time-varying delays and parameter mismatch
Shun Chen Jinde Cao
Received: 20 March 2011 / Accepted: 9 May 2011 / Published online: 4 June 2011
Springer Science+Business Media B.V. 2011
Abstract In this paper, the projective synchronization
of neural networks with mixed time-varying delays
and parameter mismatch is discussed. Due to param-
eter mismatch and projective factor, complete projec-
tive synchronization cannot be achieved. Therefore, a
new weak projective synchronization scheme is pro-
posed to ensure that coupled neural networks are in
a state of synchronization with an error level. Several
criteria are derived and the error level is estimated by
applying a generalized Halanay inequality and matrix
measure. Finally, a numerical example is given to ver-
ify the efciencies of theoretical results.
Keywords Projective synchronization Neural
networks Delay
1 Introduction
The study of synchronization in nonlinear science
has attracted considerable attention due to its poten-
tial applications in various elds such as physics, se-
cure communication, automatic control, and chemi-
cal and biological systems [1]. There are several dif-
ferent master-slaver synchronization schemes which
S. Chen J. Cao ()
Department of Mathematics, Southeast University, Nanjing
210096, China
e-mail: jdcao@seu.edu.cn
S. Chen
e-mail: shun6266@gmail.com
have been described theoretically and observed ex-
perimentally. These include complete synchronization
(CS) [25], generalized synchronization (GS) [6, 7],
lag synchronization (LS) [8, 9], anticipating synchro-
nization (AS) [10], phase synchronization (PS) [11],
and projective synchronization (PS) [12]. Projective
synchronization is interesting because of its propor-
tionality between the synchronized dynamical states.
This proportional feature can be used to M-nary digital
communication for achieving fast communication [13].
Subsequently, some researchers extended the concept
of projective synchronization as generalized projective
synchronization [14, 15], function projective synchro-
nization [16], and so on.
Recently, dynamical properties of neural networks
with distributed time delay have been extensively
investigated [1724]. Most previous literature have
mainly been devoted to the stability analysis and peri-
odic oscillations of kinds of neural networks with dis-
tributed time delay, such as recurrent neural networks
[17, 18], bidirectional associative memory networks
[19], Hopeld neural networks [20], cellular neural
networks [21]. It is noted that both discrete and dis-
tributed time delays have been considered [17, 2224].
In many papers, synchronization schemes assume
that the master-slave systems are identical. However,
there are always some mismatches between master
system and slaver system in practical applications. In
general, the master-slave synchronization error will
not tend asymptotically to zero if the master-slave
systems are not identical. Mismatch robustness and
1398 S. Chen, J. Cao
its effects on synchronization are studied [25, 26].
Therefore, it is particularly important to consider the
mismatch in synchronization phenomenon. There are
some reports on this issue [27, 28]. However, the ef-
fects of parameter mismatch on projective synchro-
nization between two coupled neural networks with
mixed time-varying delays have not been investigated,
which motivates the current study.
In this paper, we investigate neural networks with
mixed time-varying delays and parameter mismatch in
a general model. It is known that complete synchro-
nization is destroyed by parameter mismatch and pro-
jective factor. We proposed the weak projective syn-
chronization with an error level. Based on the obtained
results, one can control the projective synchronization
error in a predetermined level.
The remainder of this paper is organized as follows:
In Sect. 2, we introduce some notions, and some ba-
sic information that will be used in the following sev-
eral sections. Section 3 focuses on the weak projec-
tive synchronization analysis of the master-slave neu-
ral network with mixed time-varying delays and pa-
rameter mismatch. In Sect. 4, a simulation example is
presented to show the effectiveness of the theoretical
results. A short conclusion is given in Sect. 5.
2 Model description and mathematical
preliminaries
Fist of all, some mathematical notations used through-
out this paper are presented. R denotes the set of real
numbers, R
n
=RR R
. ,, .
n
. For x R
n
, x
T
de-
notes its transpose. I is the identity matrix with appro-
priate dimensions. C([, 0], R
n
) denotes the Banach
space of continuous vector-valued functions mapping
the interval [, 0] into R
n
.
Denition 1 [29] The matrix measure of a real square
matrix A= (a
ij
)
nn
is as follows:

p
(A) = lim
h0
+
I +hA 1
h
,
where
p
is an induced matrix norm on R
nn
, I
is the identity matrix, and p = 1, 2, . The matrix
measures corresponding to the norms
1
,
2
,

are given below:

1
(A) = max
j
_
a
jj
+
n

i=1, i=j
|a
ij
|
_
, (1)

2
(A) =
1
2

max
_
A
T
+A
_
, (2)

(A) = max
i
_
a
ii
+
n

j=1, j=i
|a
ij
|
_
. (3)
In this paper, we consider the neural networks with
both time-varying discrete delays and distributed time-
varying delays dened by the following state equa-
tions:
x
i
(t ) = a
i
x
i
(t ) +
n

j=1
b
ij
f
j
_
x
j
(t )
_
+
n

j=1
c
ij
g
j
_
x
j
_
t
1
(t )
__
+
n

j=1
d
ij
_
t
t
2
(t )
h
j
_
x
j
(s)
_
ds,
i = 1, 2, . . . , n, (4)
or in a compact form
x(t ) = Ax(t ) +Bf
_
x(t )
_
+Cg
_
x
_
t
1
(t )
__
+D
_
t
t
2
(t )
h
_
x(s)
_
ds, (5)
where x(t ) = [x
1
(t ), x
2
(t ), . . . , x
n
(t )]
T
R
n
is the
state vector associated with the neurons; A =
diag(a
1
, a
2
, . . . , a
n
) > 0; B = (b
ij
)
nn
, C = (c
ij
)
nn
and D = (d
ij
)
nn
denote the connection weights ma-
trix, the connection weights matrix with discrete de-
lays and the connection weights matrix with dis-
tributed delays, respectively;
1
(t ) and
2
(t ) are dis-
crete and distributed time-varying delays, respec-
tively; and f (x(t )) = (f
1
(x
1
(t )), f
2
(x
2
(t )), . . . ,
f
n
(x
n
(t )))
T
R
n
, g(x(t
1
(t ))) = (g
1
(x
1
(t
1
(t ))),
g
2
(x
2
(t
1
(t ))), . . . , g
n
(x
n
(t
1
(t ))))
T
R
n
and
h(x(s)) = (h
1
(x
1
(s)), h
2
(x
2
(s)), . . . , h
n
(x
n
(s)))
T

R
n
denote the activation functions of the neurons with
f (0) = 0, g(0) = 0 and h(0) = 0.
Remark 1 If we assume that x
i
(t ) R
m
, the model
can be easily represented by using the Kronecker prod-
Projective synchronization of neural networks with mixed time-varying delays and parameter 1399
uct operations [30]. In this paper, we assume m = 1
for notational simplicity, and all the results obtained
in this paper can be generalized to the case of m > 1.
Throughout the paper, we have the following two
assumptions:
Assumption 1 For any z
i
R
n
(i = 1, 2), there exist
constants l
p
f
> 0, l
p
g
> 0, l
p
h
> 0, such that
_
_
f (z
1
) f (z
2
)
_
_
p
l
p
f
z
1
z
2

p
, (6)
_
_
g(z
1
) g(z
2
)
_
_
p
l
p
g
z
1
z
2

p
, (7)
_
_
h(z
1
) h(z
2
)
_
_
p
l
p
h
z
1
z
2

p
. (8)
Assumption 2
1
(t ) 0,
2
(t ) 0 with a bound

1
(t ) ,
2
(t ) for all t . Clearly, this assump-
tion is certainly ensured if the delays
1
(t ),
2
(t ) are
constants.
Remark 2 It should be pointed out that in Assumption
2 we do not require that
2
(t ) is a differential function
with a bound of its derivative, which means that the
time-varying delays satisfying Assumption 2 include
a wide range of functions.
To end this section, we introduce the following
lemma which is useful in deriving sufcient conditions
of projective synchronization.
Lemma 1 [31] If W(t ) 0, t (, +),
D
+
W(t ) (t ) +(t )W(t ) +(t ) sup
t (t )st
W(s),
t > t
0
,
where D
+
W(t ) = lim
h0
+(W(t +h)W(t ))/h, and
(t ) 0, (t ) 0, (t ) 0 are continuous functions
and (t ) 0. If there exits such that
(t ) +(t ) < 0, t t
0
,
then we have
W(t )

+ sup
st
0
W(s)e

(t t
0
)
where

= sup
t
0
s
(t ) and

= inf
t t
0
{(t ) :
(t ) +(t ) +(t )e
(t )(t )
= 0}.
3 Main results
In this section, we consider the projective synchroniza-
tion of two coupled neural networks with mixed time-
varying delays and parameter mismatch. The synchro-
nization problem is formulated as follows.
Consider the following two mixed time-varying de-
layed neural networks with parameter mismatch (mas-
ter system and slaver system):
x(t ) = A
x
x(t ) +B
x
f
_
x(t )
_
+C
x
g
_
x
_
t
1
(t )
__
+D
x
_
t
t
2
(t )
h
_
x(s)
_
ds, (9)
x(t ) =
x
(t ), t [, 0],
and
y(t ) = A
y
y(t ) +B
y
f
_
y(t )
_
+C
y
g
_
y
_
t
1
(t )
__
+D
y
_
t
t
2
(t )
h
_
y(s)
_
ds +U(t ), (10)
y(t ) =
y
(t ), t [, 0],
where x(t ) R
n
and y(t ) R
n
are the state vectors of
the master and the slaver, respectively; A
x
R
nn
,
B
x
R
nn
, C
x
R
nn
, D
x
R
nn
, A
y
R
nn
,
B
y
R
nn
, C
y
R
nn
, D
y
R
nn
are constant
matrices; and
x
(t ) C([, 0], R
n
) and
y
(t )
C([, 0], R
n
) are the initial conditions. The con-
troller U(t ) is designed as K(t )(y(t ) x(t )), and
is the projective factor.
Assumption 3 We assume that the trajectory of the
master system is bounded with x(t ) {x(t )|x(t )
p

M
p
}, t .
Many researchers have investigated the synchro-
nization between systems (9) and (10) with A
x
= A
y
,
B
x
= B
y
, C
x
= C
y
, and = 1, and without distributed
time-varying delay. In this paper, we focus on the case
of A
x
= A
y
, B
x
= B
y
, C
x
= C
y
, D
x
= D
y
, and = 1,
and the systems with mixed time-varying delays. As
far as we know, only a few results on synchronization
of neural networks with parameter mismatch [32] or
stability of neural networks with mixed time-varying
delays, see Refs. [17, 19, 20, 23], have been consid-
ered, but there are few reports whose concern is in pro-
jective synchronization of neural networks with mixed
1400 S. Chen, J. Cao
time-varying delays and parameter mismatch. In or-
der to study the projective synchronization behavior
between systems (9) and (10), let the synchronization
error signal be e(t ) = y(t ) x(t ), and subtracting (9)
from (10) yields the error dynamical system:
e(t ) =
_
A
y
K(t )
_
e(t ) +B
y

f
_
e(t )
_
+C
y
g
_
e
_
t
1
(t )
__
+D
y
_
t
t
2
(t )

h
_
e(s)
_
ds
+F
_
x(t ),
1
(t ),
2
(t ),
_
(11)
where

f
_
e(t )
_
= f
_
y(t )
_
f
_
x(t )
_
,
g
_
e
_
t
1
(t )
__
= g
_
y
_
t
1
(t )
__
g
_
x
_
t
1
(t )
__
,

h
_
e(s)
_
= h
_
y(s)
_
h
_
x(s)
_
,
F
_
x(t ),
1
(t ),
2
(t ),
_
= (A
y
+A
x
)x(t ) +B
y
f
_
x(t )
_
B
x
f
_
x(t )
_
+
_
C
y
g
_
x
_
t
1
(t )
__
C
x
g
_
x
_
t
1
(t )
___
+
_
t
t
2
(t )
_
D
y
h
_
x(s)
_
D
x
h
_
x(s)
__
ds.
(12)
It is clear that the origin e = 0 is not an equilibrium
point of the error system (11) because of the presences
of the parameter mismatch and the projective factor.
However, we found that it is possible to synchronize
the master-slave systems up to a relatively small error
bound. In this paper, we consider the projective syn-
chronization with error bound .
Denition 2 The synchronization schemes (9) and
(10) are said to be weak projective synchronized with
error bound > 0 if there exists a T 0 such that
y(t ) x(t )
p
for all t T .
Before we showthe main theorem, we would like to
make some calculations about F(x(t ),
1
(t ),
2
(t ), ).
Rewrite the p-norm of F as follows:
_
_
F
_
x(t ),
1
(t ),
2
(t ),
__
_
p

_
_
(A
x
A
y
)x(t )
_
_
p
+
_
_
B
y
f
_
x(t )
_
B
x
f
_
x(t )
__
_
p
+
_
_
_
C
y
g
_
x
_
t
1
(t )
__
C
x
g
_
x
_
t
1
(t )
____
_
p
+
_
_
_
_
_
t
t
2
(t )
_
D
y
h
_
x(s)
_
D
x
h
_
x(s)
__
ds
_
_
_
_
p
.
(13)
From Assumptions 1 and 3, we have:
_
_
B
y
f
_
x(t )
_
B
x
f
_
x(t )
__
_
p
||
_
B
y

p
+B
x

p
_
l
p
f
M
p
, (14)
_
_
_
C
y
g
_
x
_
t
1
(t )
__
C
x
g
_
x
_
t
1
(t )
____
_
p
||
_
C
y

p
+C
x

p
_
l
p
g
M
p
, (15)
_
_
_
_
_
t
t
2
(t )
_
D
y
h
_
x(s)
_
D
x
h
_
x(s)
__
ds
_
_
_
_
p

_
t
t
2
(t )
_
D
y

p
+D
x

p
_
l
p
h
M
p
ds

_
D
y

p
+D
x

p
_
l
p
h
M
p
. (16)
From (13)(16), we can see that F(x(t ),
1
(t ),

2
(t ), )
p
is bounded for t . We assume
that sup
t 0
F(x(t ),
1
(t ),
2
(t ), )
p
=

p
, where

p
< .
Theorem 1 Under Assumptions 1, 2 and 3, if there
exist a nonsingular matrix P and a matrix measure

p
()(p = 1, 2, ) such that

p
_
P
_
A
y
K(t )
_
P
1
_
+l
p
f
PB
y

p
_
_
P
1
_
_
p
+l
p
g
PC
y

p
_
_
P
1
_
_
p
+
2
(t )l
p
h
PD
y

p
_
_
P
1
_
_
p
< 0, t 0, (17)
then the synchronization error system (11) converges
exponentially to a small region D containing the ori-
gin, where
D =
_
e R
n

_
_
e(t )
_
_
p

P
1

p
P
p

_
.
Consequently, the weak projective synchronization
with error bound +
P
1

p
P
p

between the mas-

ter system (9) and the slaver system (10) is achieved,
where is any arbitrary small positive number.
Proof Choose the following Lyapunov function:
V
_
e(t )
_
=
_
_
Pe(t )
_
_
p
, (18)
Projective synchronization of neural networks with mixed time-varying delays and parameter 1401
where P is a non-singular matrix. Then the upper-right
Dini derivative of V(e(t )) with respect to t along the
solution of (11) is as follows:
D
+
V
_
e(t )
_
= lim
h0
+
Pe(t +h)
p
Pe(t )
p
h
= lim
h0
+
Pe(t ) +hP e(t ) +o(h)
p
Pe(t )
p
h
= lim
h0
+
1
h
__
_
_
_
Pe(t ) +hP
_
_
A
y
K(t )
_
e(t )
+B
y

f
_
e(t )
_
+C
y
g
_
e
_
t
1
(t )
__
+D
y
_
t
t
2
(t )

h
_
e(s)
_
ds
+F
_
x(t ),
1
(t ),
2
(t ),
_
_
+o(h)
_
_
_
_
p

_
_
Pe(t )
_
_
p
ds
_
lim
h0
+
1
h
__
_
Pe(t )
+hP
_
A
y
K(t )
_
e(t )
_
_
p

_
_
Pe(t )
_
_
p
_
+
_
_
PB
y

f
_
e(t )
__
_
p
+
_
_
PC
y
g
_
e
_
t
1
(t )
___
_
p
+
_
_
_
_
PD
y
_
t
t
2
(t )

h
_
e(s)
_
ds
_
_
_
_
p
+
_
_
P
_
F
_
x(t ),
1
(t ),
2
(t ),
___
_
p
. (19)
Based on Assumption 1, one has
_
_
f
_
e(t )
__
_
p
l
p
f
_
_
e(t )
_
_
p
,
_
_
g
_
e
_
t
1
(t )
___
_
p
l
p
g
_
_
e
_
t
1
(t )
__
_
p
, (20)
_
_
_
_
_
t
t
2
(t )

h
_
e(s)
_
ds
_
_
_
_
p

_
t
t
2
(t )
l
p
h
_
_
e(s)
_
_
p
ds.
Substituting inequalities (20) into the right-hand side
of inequality (19) yields
D
+
V
_
e(t )
_
lim
h0
+
1
h
__
_
I +hP
_
A
y
K(t )
_
P
1
_
_
p
1
__
_
Pe(t )
_
_
p
+l
p
f
PB
y

p
_
_
P
1
_
_
p
_
_
Pe(t )
_
_
p
+l
p
g
PC
y

p
_
_
P
1
_
_
p
_
_
Pe
_
t
1
(t )
__
_
p
+l
p
h
PD
y

p
_
_
P
1
_
_
p
_
t
t
2
(t )
_
_
Pe(s)
_
_
p
ds
+P
p
_
_
F
_
x(t ),
1
(t ),
2
(t ),
__
_
p

p
_
P
_
A
y
K(t )
_
P
1
_
+l
p
f
PB
y

p
_
_
P
1
_
_
p
__
_
Pe(t )
_
_
p
+
_
l
p
g
PC
y

p
_
_
P
1
_
_
p
+l
p
h
PD
y

p
_
_
P
1
_
_
p

2
(t )
_
sup
t <s<t
_
_
Pe(t )
_
_
p
P
p
_
_
F
_
x(t ),
1
(t ),
2
(t ),
__
_
p
. (21)
Let (t ) = P
p
F(x(t ),
1
(t ),
2
(t ), )
p
, (t ) =

p
(P(A
y
K(t ))P
1
) + l
p
f
PB
y

p
P
1

p
, and
(t ) = l
p
g
PC
y

p
P
1

p
+
2
(t )l
p
h
PD
y

p
P
1

p
.
From (17), we have that (t ) + (t ) < 0. By
Lemma 1, it follows that
V
_
e(t )
_

P
p

+ sup
s0
V
_
e(s)
_
e

t
, (22)
where

= inf
t 0
{(t ) : (t ) + (t ) +
(t )e
(t )
= 0}. Note that the Lyapunov function (18)
satises
_
_
P
1
_
_
p
V
_
e(t )
_
=
_
_
P
1
_
_
p
_
_
Pe(t )
_
_
p

_
_
P
1
Pe(t )
_
_
p
=
_
_
e(t )
_
_
p
, (23)
V
_
e(t )
_
=
_
_
Pe(t )
_
_
p
P
p
_
_
e(t )
_
_
p
. (24)
Thus, we have
_
_
e(t )
_
_
p

P
1

p
P
p

+
_
_
P
1
_
_
p
P
p
sup
s0
_
_
e(s)
_
_
p
e

t
.
(25)
The synchronization error system (11) converges
exponentially to a small region D containing the ori-
gin:
D =
_
e R
n

_
_
e(t )
_
_
p

P
1

p
P
p

_
.
For any arbitrary small positive number , from the
inequality (25), there is exists a positive T such that,
1402 S. Chen, J. Cao
for any t T ,
_
_
e(t )
_
_
p
+
P
1

p
P
p

.
Therefore, a weak projective synchronization oc-
curs between systems (9) and (10) with an error bound
+
P
1

p
P
p

for any arbitrary small positive num-

ber . This completes the proof.
Notice that in Theorem 1 the matrix P is nonsingu-
lar. By selecting P = I , from Theorem 1 we have the
following corollary:
Corollary 1 Under Assumptions 1, 2 and 3, if there
exists a matrix measure
p
()(p = 1, 2, ) such that

p
_
A
y
K(t )
_
+l
p
f
B
y

p
+l
p
g
C
y

p
+
2
(t )l
p
h
D
y

p
< 0, t 0, (26)
then the synchronization error system (11) converges
exponentially to a small region D containing the ori-
gin:
D =
_
e R
n

_
_
e(t )
_
_
p

_
.
Consequently, the weak projective synchronization
with an error bound +

between the master system

(9) and the slaver system (10) is achieved, where is
any arbitrary small positive number.
Notice that
2
(t ) , by selecting P = I , and as-
sume that K(t ) is not time-varying. From Theorem 1
we have the following corollary:
Corollary 2 Under Assumptions 1, 2 and 3, if there
exists a matrix measure
p
()(p = 1, 2, ) such that

p
(A
y
K) +l
p
f
B
y

p
+l
p
g
C
y

p
+l
p
h
D
y

p
< 0, t 0, (27)
then the synchronization error system (11) converges
exponentially to a small region D containing the ori-
gin:
D =
_
e R
n

_
_
e(t )
_
_
p

_
.
Consequently, the weak projective synchronization
with an error bound +

between the master system

(9) and the slaver system (10) is achieved, where is
any arbitrary small positive number.
Remark 3 From Theorem 1 one can see clearly that
the condition (17) does not include information about
the discrete time-varying delay, which means that the
condition (17) is discrete time dependent. This is very
interesting, and we will include some detailed expla-
nations in the other paper.
Remark 4 It is worth pointing out that projective syn-
chronization scheme used in this paper can also be ex-
tended to investigate the synchronization problem of
neural networks with mixed delays and parameter mis-
match, only it needs to let projective factor = 1 in
the denition of the projective synchronization error.
With the projective factor = 1, Theorem 1 can also
be extended to investigate the anti-synchronization of
neural networks with mixed delays and parameter mis-
match.
Remark 5 If we choose
2
(t ) = 0, this model becomes
that of [34]: in [34], the adaptive controller is used,
also a higher-order controller. As in [33], in which the
projective synchronization is achieved with a higher-
order controller, however, we can use a linear con-
troller to get a sufcient condition for a weak projec-
tive synchronization from Theorem 1. In applications,
design of the controller is an important problem, and
design of the higher-order controller is a waste of time
and resources. So in this paper, we provide a sufcient
condition to make a weak projective synchronization
being achieved with a linear controller which is very
useful.
Remark 6 From the model (4), we use the distributed
delay in this paper, and we use the matrix measure to
solve the problem, which is very different from the
known paper [24], in which Lemma 1 in [35] is used.
A more important point is that the distributed time-
varying delay does not need to be differential.
4 Numerical simulation
In this section, an example is shown to verify the ef-
fectiveness of the synchronization scheme obtained in
the previous section.
Projective synchronization of neural networks with mixed time-varying delays and parameter 1403
Fig. 1 Attractors of the
neural network model
without coupling term
Consider two coupled neural networks with mixed
time-varying delays and parameter mismatch de-
scribed by the following equations:
x(t ) = A
x
x(t ) +B
x
f
_
x(t )
_
+C
x
g
_
x
_
t
1
(t )
__
+D
x
_
t
t
2
(t )
h
_
x(s)
_
ds,
x(t ) =
x
(t ), t [, 0],
(28)
and
y(t ) = A
y
y(t ) +B
y
f
_
y(t )
_
+C
y
g
_
y
_
t
1
(t )
__
+D
y
_
t
t
2
(t )
h
_
y(s)
_
ds +U(t ),
y(t ) =
y
(t ), t [, 0],
(29)
with
A
x
=
_
1 0
0 1
_
, B
x
=
_
2 0.11
5.0 3.2
_
,
C
x
=
_
1.6 0.1
0.18 2.4
_
, D
x
=
_
0.5 1
2 1.8
_
,
A
y
=
_
0.97 0
0 1.1
_
, B
y
=
_
2.1 0.1
5.1 3.19
_
,
C
y
=
_
1.5 0
0.15 2.3
_
, D
y
=
_
0.48 1.02
2.1 1.9
_
,

1
(t ) =
2
(t ) =
e
t
1+e
t
, where x(t ) = [x
1
(t ), x
2
(t )]
T
,
y(t ) = y
1
(t ), y
2
(t ) are the state vectors of the cou-
pled networks, and f (x(t )) = g(x(t )) = h(x(t )) =
[tanh(x
2
(t )), tanh(x
2
(t ))]
T
. Assumptions 1 and 2 hold
with l
f
= 1, l
g
= 1, l
h
= 1 and = 1. We take the
projective factor = 0.9.
Let K(t ) = 0. The coupling term vanishes, which
means that neural network systems (28) and (29)
are independent of each other. Different periodic
attractors are shown in Fig. 1, with initial values

x
(t ) = [0.2, 0.5]
T
and
y
(t ) = [1.3, 2.1]
T
. The
weak projective synchronized motion of the network
is shown in Fig. 2. When we take K(t ) =
_
14 0
0 14
_
,
with some computation, and take P = I , the region
D = {e R
n
|e(t )
p
0.22} and the weak projec-
tive synchronized motion of the network are shown
in Fig. 3.
1404 S. Chen, J. Cao
Fig. 2 Time evolution of
synchronization error
without control
Fig. 3 Time evolution of
synchronization error with
control
Projective synchronization of neural networks with mixed time-varying delays and parameter 1405
5 Conclusions
This paper has studied the projective synchronization
of neural networks with mixed time-varying delays
and parameter mismatch. The linear controllers have
been used for projective synchronizing of the neural
networks and a new weak projective synchronization
scheme is proposed to ensure that coupled neural net-
works are in a state of synchronization with an er-
ror level. We apply a generalized Halanay inequality
and matrix measure to research the weak projective
synchronization, and some novel criteria using matrix
measure are derived with the error level can be esti-
mated.
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