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International Journal of Bifurcation and Chaos, Vol. 27, No. 5 (2017) 1750077 (15 pages)
c World Scientific Publishing Company
DOI: 10.1142/S0218127417500778
Realization of Integrable
Incommensurate-Fractional-Order-Rössler-System
Design Using Operational Transconductance
Amplifiers (OTAs) and Its Experimental Verification
Mohammad Rafiq Dar∗ , Nasir Ali Kant† and Farooq Ahmad Khanday‡
Department of Electronics and Instrumentation Technology,
University of Kashmir, Srinagar 190006,
Jammu and Kashmir, India
∗darmrafiq.ku@gmail.com
Int. J. Bifurcation Chaos 2017.27. Downloaded from www.worldscientific.com
†nsrknt@gmail.com
‡farooqkhanday@kashmiruniversity.ac.in
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‡
Author for correspondence
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M. R. Dar et al.
numerous integer-order systems can show better chaotic system amenable for Integrated Circuit (IC)
chaotic behavior [Hartley et al., 1995; Petras, 2008], form is presented. Also, the experimental verifica-
owing to the extensive range of applications from tion of the fractional-order Rössler chaotic system
mechanics [Xu et al., 2015a, 2015b], astrophysics, is presented in the paper. In addition, a simple
quantum mechanics, secure message communica- secure message communication system was designed
tion (i.e. image encryption, steganography, cryptog- to illustrate the usefulness of the system.
raphy etc.), [Huang & Xu, 1999] biology (rhythmic
processes) to chemical and biomedical engineering
[Dar et al., 2016], etc. There are various proposed
2. Fractional Calculus: Basic
fractional-order chaotic systems and some popu- Definitions and Preliminaries
lar fractional-order systems which have been exten- Among the numerous definitions of fractional dif-
sively studied are fractional-order Lorenz system ferentiation and integration, Grünwald–Letnikov
[Grigorenko & Grigorenko, 2003], fractional-order and Riemann–Liouville definition are the most
Chua circuit [Hartley et al., 1995], the fractional- followed ones [Podlubny, 1998; Morales-Delgado
order Lü system [Lu, 2006], fractional-order Rössler et al., 2016; Gómez-Aguilar et al., 2016; Coronel-
system [Li & Chen, 2004], etc. It is pertinent to Escamilla et al., 2016]. The Grünwald–Letnikov def-
Int. J. Bifurcation Chaos 2017.27. Downloaded from www.worldscientific.com
mention that the lowest order for which integer- inition of fractional-order operators is:
order systems have been proven to show chaos is t−a
[ h ]
equal to 3, however, fractional-order chaotic sys- α 1 j α
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tems show chaos for orders less than 3 even as low a Dt f (t) = lt α (−1) f (t − jh)
h→0 h j
as 0.3 [Grigorenko & Grigorenko, 2003; Lu, 2006; j=0
time that the reconfigurable low-voltage electronic With all initial values set to zero, Riemann–
implementation of the fractional-order Rössler Liouville derivative in its Laplace domain is given
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only one stable eigenvalue and all other eigenval- 2.2. Stability analysis of chaotic
ues in unstable region, saddle point is called saddle fractional-order system
point of index 1. Moreover, the saddle point is of
Theorem 1. In [Matignon, 1996], it has been proven
index 2 if one eigenvalue is stable and other two are
that an autonomous system given by Eq. (10):
unstable. Furthermore, in chaotic systems, it is a
proven fact that scrolls are generated only around Dαt x(t) = Ax(t), x(0) = x0 (10)
the saddle point of index 2 [Silva, 1993; Cafagna &
Grassi, 2003]. A necessary condition for fractional- where, 0 < α < 1, x ∈ n and A ∈ n×n , α = [α1 ,
order system to be chaotic is that the eigenvalue λ α2 , α3 , . . . , αn ] is;
must be in the unstable region, which means (a) Asymptotically stable iff |arg(λ)| > απ/2 is
απ |Im(λ)| satisfied for all eigenvalues of A.
tan >
(b) Stable iff |arg(λ)| ≥ απ/2 is satisfied for all
2 Re(λ)
. (7) eigenvalues of A with critical eigenvalues satis-
2 |Im(λ)|
fying |arg(λ)| = απ/2 having geometric multi-
α > tan−1
π Re(λ) plicity of one.
Theorem 2. In [Deng et al., 2007], it has been
Im proven that if we have linear fractional-order sys-
tem given by Eq. (11):
Dαt i x(t) = Ax(t), x(0) = x0 (11)
n
Stable Region
a
St
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M. R. Dar et al.
find the stability of the chaotic system [Zhen et al., where x1 , x2 , and x3 are the state variables, and
2011]. a, b, c, are system parameters, and are very crucial
for determining the existence of chaos in dynami-
cal system; determining the equilibrium, and hence
3. Fractional-Order Rössler System saddle points of the system. In addition, the sys-
The Rössler system [Rössler, 1976] and its tem parameters are important in determining the
fractional-order version [Zhang et al., 2009] is a Largest Lyapunov Exponent (LLE) and bifurcation
three-dimensional nonlinear system that can exhibit point as discussed in [Zhang et al., 2009].
chaotic behavior. The attractor of the Rössler sys-
tem belongs to the screw type single-scroll chaotic 3.1. Fractional-order Rössler
attractor family. The fractional-order Rössler sys- system and chaos
tem is given by:
As discussed earlier, for the autonomous fractional-
dα1 x1 order system to be in chaotic regime proper care
= −x2 − x3
dtα1 has be taken in choosing the order of the system.
Therefore, in order to calculate the order we need to
Int. J. Bifurcation Chaos 2017.27. Downloaded from www.worldscientific.com
= b + x3 (x1 − c) calculated using Eq. (8) and are given in Eq. (13)
dtα3
as under:
√ √ √
2
c − c − 4ab 2
−c + c − 4ab 2
c − c − 4ab
E1 = , ,
2 2a 2a
√ √ √ . (13)
2
c + c − 4ab 2
−c − c − 4ab 2
c + c − 4ab
E2 = , ,
2 2a 2a
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Table 1. Equilibrium points, Jacobian matrices and corresponding eigenvalues for various system parameters.
0 1
0 −1 −1
B C
1 = @ 1 0.35 0 A Λ1 = (−4.97, 0.1 + 0.98j,
E1 = (0.01, −0.04, 0.04) 0.040 0 −4.98 0.17 − 0.98j)
(0.35, 0.2, 5)
E2 = (4.98, −14.24, 14.24) 0 1
0 −1 −1 Λ2 = (0.32, 0.004 + 3.9j,
B C 0.004 − 3.9j)
2 = @ 1 0.35 0 A
14.24 0 −0.01
0 1
0 −1 −1
B C
1 = @ 1 0.5 0 A Λ1 = (−4.97, 0.246 + 0.968j,
E1 = (0.02, −0.04, 0.04) 0.04 0 −4.97 0.246 − 0.968j)
(0.5, 0.2, 5) 0 1
E2 = (4.97, −9.95, 9.95) 0 −1 −1 Λ2 = (0.453, 0.013 + 3.307j,
B C 0.013 − 3.307j)
2 = @ 1 0.5 0 A
9.95 0 −0.02
0 1
0 −1 −1
B C
1 = @ 1 0.6 0 A Λ1 = (−5.974, 0.297 + 0.95j,
E1 = (0.02, −0.033, 0.033) 0.03 0 −5.97 0.29 − 0.953j)
(0.6, 0.2, 6) 0 1
E2 = (5.97, −9.96, 9.96) 0 −1 −1 Λ2 = (0.545, 0.017 + 3.306j,
B C 0.017 − 3.306j)
2 = @ 1 0.6 0 A
9.96 0 −0.02
0 1
0 −1 −1
B C
1 = @ 1 0.7 0 A Λ1 = (−9.98, 0.349 + 0.936j,
E1 = (0.014, −0.02, 0.02) 0.02 0 −9.98 0.349 − 0.936j)
(0.7, 0.2, 10) 0 1
E2 = (9.986, −14.26, 14.26) 0 −1 −1 Λ2 = (0.654, 0.015 + 3.903j,
B C 0.015 − 3.903j)
2 = @ 1 0.7 0 A
14.26 0 −0.01
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Table 2. Conditions for chaos with arbitrary system parameters and various incommensurate fractional-orders.
(0.35, 1, 10) α > 0.88 (0.9, 0.9, 0.95) 0.08 > 0 Yes
(0.35, 1, 10) α < 0.88 (0.4, 0.6, 0.8) −0.106 < 0 No
(0.35, 0.2, 5) α > 0.88 (1.0, 0.95, 0.9) 0.0075 > 0 Yes
(0.35, 0.2, 5) α < 0.88 (0.8, 0.7, 0.9) −0.03 < 0 No
(0.5, 0.2, 5) α < 0.84 (0.8, 0.9, 0.95) −0.0127 < 0 No
(0.6, 0.2, 6) α > 0.50 (0.9, 0.8, 0.7) 0.009 > 0 Yes
(0.7, 0.2, 10) α > 0.77 (0.8, 0.85, 0.9) 0.005 > 0 Yes
2 1 8 − 2α 1 α − 3α + 2
s + s+ 2
τ α2 + 3α + 2 τ α2 + 3α + 2
4.1. Realization of circuit building (17)
blocks
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Or
Various schemes have been used to approximate
G1 G0
the fractional-order lossless integrator [Chen et al., G2 s2 + s+
2016, 2013] to realize the chaotic systems. Accord- τ1 τ1 τ2
H(s) = . (18)
1 1
ing to [Freeborn et al., 2010], the linear trans- s2 + s +
fer function approximation of fractional integrator τ1 τ1 τ2
given by Eq. (6) can be efficiently approximated by From Eq. (18), it is clear that the transfer func-
Eq. (16): tion of the fractional-order lossless integrator can
be implemented by Follow-the-Ladder-Feedback
1 (α2 − 3α + 2)s2 + (8 − 2α2 )s + (α2 + 3α + 2)
= . (FLF) functional block diagram shown in Fig. 3(a),
sα (α2 + 3α + 2)s2 + (8 − 2α2 )s + (α2 − 3α + 2) where unity gain frequency ωu ≡ 1/τ (τ is time con-
(16) stant of integrator) and phase response is equivalent
to −aπ/2. Also from Eq. (18) it can be concluded
From Eqs. (6) and (16) we can write the trans-
that values of the coefficients and time constants
fer function of fractional-order lossless integrator
can be obtained by comparing Eqs. (17) and (18)
which are given in Table 3.
The electronic realization of Fig. 3(a) employ-
ing only OTAs and grounded capacitors is shown
in Fig. 3(b); the employed MOS based OTA [Tsi-
rimokou et al., 2015; Dar et al., 2016] is shown in
Fig. 3(c). The aspect ratio of MOS transistors Mn1 -
Mn2 is K:1 and Mn3 -Mn4 is 1:K, where K is scaling
factor used to increase the linearity of OTA. It is
worth to mention here that the transistors operate
in subthreshold region and hence transconductance
of OTA is:
Io 4K
gm = (19)
nVT (1 + K)2
where, (VT ) is the thermal voltage (26 mv@27◦ C),
(Io ) the bias current, (n) is subthreshold slope fac-
Fig. 2. Block diagram of realized fractional-order Rössler tor of MOS transistors and hence gm = Io /nVT for
system. K = 1.
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(a)
(b)
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(c)
Fig. 3. (a) FLF block diagram to implement fractional-order integrator, (b) block diagram of FLF using OTAs and (c) MOS
structure of employed OTA.
G2 G1 G0 τ1 τ2
„ « „ «
α2 − 3α + 2 α2 + 3α + 2 α2 + 3α + 2 8 − 2α2
1 τ τ
α2 + 3α + 2 α2 − 3α + 2 8 − 2α2 α2 + 3α + 2
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the designed system is expected to work well even of 4-channel oscilloscope, as the three waveforms
if the temperature fluctuates by certain amount. need to be time-synchronous for the portrait. How-
Int. J. Bifurcation Chaos 2017.27. Downloaded from www.worldscientific.com
Performance of the fractional-order integrator ever, from the transient responses, it is clear that
of Fig. 3(b) has been verified with the value for the experimental 3D-phase portrait is also in agree-
capacitors C1 = C2 = 100 pF for various orders α = ment with those of Matlab simulink and HSPICE
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0.7, α = 0.8, α = 0.9 and α = 0.95. The simulated results. The small difference between the dynam-
result is shown in Fig. 6 and the employed values ics of Matlab simulink and HSPICE results is due
for bias currents and scaling factors are tabulated in to the sensitivity of system to the initial condition;
Table 4. From Fig. 6 it is clear that the order of the nonidealities of OTA, overall circuit, process param-
fractional-order integrator and the order of whole eters variation. In addition, nevertheless due to an
chaotic system can be electronically controlled by approximated fractional-order integrator, which has
the bias currents. ripples in the phase behavior and is well suited
The overall performance of the proposed only for few decades of frequency response as only
fractional-order Rössler system was evaluated for an second-order approximation is used to reduce cir-
overall order of 2.85 with incommensurate orders of cuit complexity, this can be avoided by using higher-
fractional-order lossless integrators as (α1 = 1, α2 = order approximation but the cost to be paid will be
0.95, α3 = 0.9) having system parameters (a, b, c) = higher complexity. The total power dissipation of
(0.35, 0.2, 5) for which bias currents for multiplier the standalone fractional-order Rössler system was
and adder blocks were accordingly adjusted. The 93.08 µW for simulated circuit.
Matlab simulink, experimental and HSPICE tran- In order to demonstrate the usefulness of
sient results of Vx1 , Vx2 , Vx3 are shown in Figs. 7(a)– designed chaotic system, a simple secure message
7(c) respectively and the corresponding projection communication system shown in Fig. 10, has been
results of Vx1 –Vx2 are shown in Figs. 8(a)–8(c) considered. The chaotic signal is added to the mes-
respectively. In addition, the 3D-phase portraits sage signal and, at the receiver, the mask, i.e.
from Matlab simulink and HSPICE are shown in chaotic signal is removed. However, the problem
Figs. 9(a) and 9(b) respectively. It is pertinent to with this scheme is that the receiver must be highly
mention here that the experimental 3D-phase por- synchronized to admit the small perturbation in
traits were not obtained due to the nonavailability the chaotic signal due to the addition of the mes-
sage. Further, the power level of message signal
must be much less than that of the chaotic sig-
Table 4. Bias currents and scaling factors for various orders nal to effectively bury it [Alvarez et al., 1999].
of fractional-order lossless integrator. With all those aspects in consideration, we masked
Order (α) Io1 (nA) Io2 (nA) Io (nA) G0 G1 G2 one of the states of the Rössler system with mes-
sage signal to make a crypto system, i.e. secure
0.7 9.30 0.33 19.1 11.77 1 0.08 message communication system. The modulated,
0.8 8.11 0.21 19.1 21 1 0.04 transmitted and the received signal results obtained
0.9 7.04 0.10 19.1 50 1 0.02
0.95 6.55 0.05 19.1 109.57 1 0.009
from Matlab simulink, experiment and HSPICE are
shown in Figs. 11(a)–11(c) respectively. Therefore,
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M. R. Dar et al.
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(a) (b)
(c)
Fig. 7. Vx1 , Vx2 , Vx3 , transient response: (a) Matlab, (b) experiment and (c) HSPICE.
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(a) (b)
(c)
Fig. 8. Vx1 –Vx2 projection: (a) Matlab, (b) experiment and (c) HSPICE.
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M. R. Dar et al.
(a) (b)
Fig. 9. 3D-phase portraits: (a) Matlab and (b) HSPICE.
Int. J. Bifurcation Chaos 2017.27. Downloaded from www.worldscientific.com
Transsmitter Receiver
Syynchronized
Fraactional-orrder fractional-orrder
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Message Sign
nal
(a) (b)
Fig. 11. Responses of transmitted, modulated and received signals: (a) Matlab, (b) experiment and (c) HSPICE.
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(c)
Fig. 11. (Continued)
the received signals in the three cases are in good shown in Figs. 12(a)–12(c) respectively. Thus, the
agreement with the transmitted signals. In order to system has security embedded in the selection of the
verify the security of the system, the parameter “c” parameters and order of states. Hence, not taking
and order of system were slightly changed in the one or all parameters and or fractional-order of the
receiver system and the obtained received signals receiver exactly the same as those of the transmitter
from Matlab simulink, experiment and HSPICE are will lead to an unauthorized receiver with the wrong
(a) (b)
Fig. 12. Transmitted and received signals when parameter c and order are varied: (a) Matlab, (b) experiment and (c) HSPICE.
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M. R. Dar et al.
(c)
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6. Conclusion
References
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