Recent Advances in Telecommunications and Circuit Design

Numerical Simulations in Jerk Circuit and Its Application in a Secure Communication System
A. SAMBAS1, M. SANJAYA WS1, M. MAMAT2, N. V. KARADIMAS3, O. TACHA4
1 3

Bolabot Techno Robotic School, Sanjaya Star Group Jl. A.H. Nasution No. 105, Bandung West Java INDONESIA
2

Informatics LAB Faculty of Mathematics & Engineering Sciences Department of Military Science Hellenic Army Academy Athens, GR-16673 GREECE
4

Department of Mathematics Universiti Malaysia Terengganu 21030 Kuala Terengganu MALAYSIA

Department of Mechanical Engineering Aristotle University of Thessaloniki Thessaloniki, GR-54124 GREECE

acenx.bts@gmail.com, nkaradimas@ilabsse.gr, rtacha@auth.gr

Abstract: - In this work, the case of synchronization between two mutually coupled identical chaotic circuits, for use in a secure communication scheme, is studied. The chosen circuit is the well-known Jerk circuit with a simple nonlinear function. By using various tools of nonlinear theory, such as phase portraits, Poincar maps, bifurcation diagrams and Lyapunov exponents, the chaotic behavior of this system is confirmed. The comparison of the results between the numerical simulation using the MATLAB and circuits simulation with the MultiSIM verifies that the Jerk circuit presents the expected behavior. Finally, the effectiveness of the mutually coupling scheme between two identical Jerk circuits in a secure communication system is presented in details. Key-Words: - Jerk circuit, chaotic synchronization, bidirectional coupling, Poincar map, bifurcation analysis, Lyapunov exponents, secure communication system.

1 Introduction
Chaos is generally defined as a state that exists between definite and random state. It is a very interesting phenomenon and has been intensively studied during the last four decades. The characteristics of chaotic systems can be used in many practical applications, such as secure communications [1-2], chemistry [3], biology [4,5], robotic [6], bits generators [7], psychology [8], ecology [9-10], economy [11,12], and cryptography [13]. Pecora and Carroll first demonstrated how chaotic systems could be synchronized, using an electronic circuit coupled unidirectionally to a subsystem made up of components of the parent

systems [14]. This innovation provided a new perspective on chaotic dynamics and inspired many studies on synchronizing chaotic systems. Cuomo and Oppenheim further expanded the area by demonstrating how synchronized chaotic systems could be used in a scheme for secure communication [15]. The plan of the paper is as follows. In section 2, the details of the proposed autonomous Jerk circuits simulation using MATLAB 2010 and MultiSIM 10.0, are presented. In Section 3, the bidirectional coupling method is applied in order to synchronize two autonomous Jerk circuits. The chaotic masking communication scheme by using the above mentioned synchronization technique are

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presented in Section 4. Finally, in Section 5, the concluding remarks are given.

So, from the diagram of Lyapunov exponents of Jerks system of Fig.2, the expected chaotic behavior, from the same set of parameters and initial
Phase Space Jerk Circuit 2 1.5

2 Jerk Circuit
Sprott found the functional form of threedimensional dynamical systems which exhibit chaos. Jerk equation has a simple nonlinear function, which can be implemented with an autonomous electronic circuit. In this work, the Jerk circuit, which was firstly presented by Sprott in 2000 [16], is used. This is a three-dimensional autonomous nonlinear system that is described by the following system of ordinary differential equations: =y x =z (1) y = az by + x 1 z This equation has only one nonlinear term in the form of absolute value of the variable x. The parameters and initial conditions of the Jerk system (1) are chosen as: (a, b) = (0.6, 1) and (x0, y0, z0) = (0, 0, 0), so that the system shows the expected chaotic behavior.

signal y

0.5

-0.5

-1

-1.5 -2.5

-2

-1.5

-1

-0.5 signal x

0.5

1.5

(a)
Phase Space Jerk Circuit 2 1.5 1 0.5

signal z

0 -0.5 -1 -1.5 -2 -1.5

2.1 Numerical Simulations Using MATLAB

In this Section the numerical simulations are carried out using MATLAB 2010. The four-order RungeKutta method is used to solve the differential equations of system (1). Figs.1(a)-(c) show the projections of the phase space orbit on to the xy plane, the yz plane, the xz plane, respectively. As it is shown, for the chosen set of parameters and initial conditions, the Jerk system presents chaotic attractors of Rossler type. Also, it is known from the nonlinear theory, that the spectrum of Lyapunov exponents provides additional useful information about systems behavior. In a three dimensional system, like this, there has been three Lyapunov exponents (1, 2, 3). In more details, for a 3D continuous dissipative system the values of the Lyapunov exponents are useful for distinguishing among the various types of orbits. So, the possible spectra of attractors, of this class of dynamical systems, can be classified in four groups, based on Lyapunov exponents [17]. (1, 2, 3) (, , ): a fixed point (1, 2, 3) (0, , ): a limit point (1, 2, 3) (0, 0, ): a two-torus (1, 2, 3) (+, 0, ): a strange attractor (Fig.1).

-1

-0.5

0 signal y

0.5

1.5

(b)
Phase Space Jerk Circuit 2 1.5 1 0.5

signal z

0 -0.5 -1 -1.5 -2 -2.5

-2

-1.5

-1

-0.5 signal x

0.5

1.5

(c) Fig.1. Numerical simulation results using MATLAB 2010, for a = 0.6, b = 1: (a) x-y plane, (b) y-z plane, (c) x-z plane.

conditions, is confirmed.
Bifurcation theory was originally developed by Poincar. It is used to indicate the qualitative change in a systems behavior, in terms of the number and the type of solutions, under the variation of one or more parameters on which the system depends [18].

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To observe the system dynamics under all the above possible bifurcations, a bifurcation diagram may be
Dynamics Lyapunov exponent 0.6 x y z

map. In the chaotic state the phase portrait is very dense with the traces of the motion. It can be only
Poincare Map Analysis Jerk Circuit 2 1.8

0.4

1.6

Lyapunov exponents

x(n+1)

0.2

1.4

1.2

0
1

-0.2

0.8

-0.4

0.8

1.2 x(n)

1.4

1.6

1.8

(a)
-0.6
Poincare Map Analysis Jerk Circuit 0.06

-0.8

20

40

60

80

100

120

140

160

180

200

0.04

Time (s)
0.02

Fig.2. Diagram of Lyapunov exponents of the Jerk system, for (a, b) = (0.6, 1).

y(n+1)

-0.02

-0.04

-0.06

-0.08 -0.08

-0.06

-0.04

-0.02 y(n)

0.02

0.04

0.0

(b)
Poincare Map Analysis Jerk Circuit 2

1.5

z(n+1)
0.5 0 -0.5 -0.5

0.5 z(n)

1.5

Fig.3. Bifurcation diagram of x vs. the control parameter a, for b = 1, with MATLAB 2010. constructed, which shows the variation of one of the state variables with one of the control parameters. A MATLAB program was written to obtain the bifurcation diagram for the Jerk circuit of Fig.3. So, in this diagram a possible bifurcation diagram for system (1), in the range of 0.55 a 1, is shown. For the chosen value of a = 0.6 the system displays the expected chaotic behavior. For 0.6 < a 0.76, a period-2 behavior system and finally for a > 0.76 a period-1 behavior system is shown. Another useful tool for analyzing the dynamical characteristics of a nonlinear system is the Poincar

(c) Fig.4. A gallery of Poincare maps for system (1) for a = 0.6, b = 1, with MATLAB 2010: (a) the maxima of x(n + 1) against those of x(n), (b) the maxima of y(n + 1) against those of y(n), (c) the maxima of z(n + 1) against those of z(n). indicative of the minima and maxima of the motion. Any other characterization of the motion is difficult to interpret. One way to capture the qualitative features of the strange attractor is to obtain the Poincar map [19]. Figs.4(a)-(c) shows the Poincar section map using MATLAB, for a = 0.6, b = 1.

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2.2

Analog Simulation Using MultiSIM

The designed circuitry, realizing system (1), is shown in Fig.5. Also the circuit has a basin of attraction outside of which the dynamics are unbounded, which manifests itself in the saturation of the op-amps. If the op-amps saturate, it is necessary to restart the circuit. The relationship among the resistors R, RA used in the circuit and the parameter a is given below. R RA = (2) a The occurrence of the chaotic attractor can be clearly seen in Figs.6(a)-(c). By comparing Figs.1(a)-(c) and Figs.6(a)-(c) a good qualitative agreement between the numerical integration of (1) by using MATLAB 2010, and the circuits simulation by using MultiSIM 10.0, can be concluded.
R7 U7A 1k 4 R2 R3 1k V1 1V 1.6k C1 100nF
4 2 1 3 8

Rc > 100 m, the synchronization cannot occur as shown in Fig.8(b).

(a)

1N4148

D2 1N4148 R4 1k VCC2 -8V

R8 1k
1

3 8

TL082CD C2

R13 1k

U5A R6 1k
2

C3 100nF U6A 4 R5
1

100nF U8A 4
2 1

TL082CD

1k

(b)

R1 1k

3 8

TL082CD R11 1k
3 8

R10 1k

TL082CD

VCC1 8V

Fig.5. Schematic of the proposed Jerk circuit using MultiSIM 10.0.

3 Bidirectional Coupling Two Identical Jerk Circuits

Between
(c) Fig.6. Various projections of the chaotic attractor using MultiSIM 10.0: (a) x-y plane, (b) y-z plane, (c) x-z plane.

For the bidirectional coupling (also called mutual or two-way), both drive and response systems are connected in such a way that they mutually influence each others behavior. We used TL082CD op-amps, appropriate valued resistors, two diode and capacitors for MultiSIM simulations. The system of two identical Jerk circuits bidirectional or two-way coupled via a linear resistor Rc is shown in Fig.7. Chaotic synchronization appears for a coupling strength Rc 100 m, as shown in Fig.8(a). For different initial conditions or resistance coupling strength

4 Secure Communication Scheme

In chaos-based secure communication scheme, chaos synchronization is the critical issue, because two identical chaos generators, in the transmitter and the receiver end, need to be synchronized. Information signal is added to the chaotic signal at

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transmitter and at receiver the masking signal is regenerated and subtracted from the receiver
R7 1k
4

1N4148

1N4148 23

R19 1k

R2 R3 1k 1.6k C1

R8 1k

U7A 4
2

D2 1N4148 R4 1k C2 3 VCC2 -9V 5 R13 1k 18 R14 1.6k C4 R15 1k 19 V2 1V 16

3

U2A
2

24 R20 1k

D4 1N4148 R21 1k C6 VCC2 26 -9V VCC2 U4A

12
1

R16 1k
1

3 0 TL082CD

3 0 8 TL082CD

2 100nF 13 4 V1 1V 2 0 11 3
8

U5A 15 R6
1

VCC2 C3

9
2

100nF U6A 4 R5
1

17

C5

1k

TL082CD

R1 1k 0

10 3
8

1k

6
2

100nF U8A 4
1 3

100nF 21
4 2 1

100nF 25
4 2 1

100nF

U1A R12 TL082CD 1k

TL082CD

7 R11 1k VCC1 0
8

U3A 22 TL082CD VCC1 R18 1k

2 1 4

R10 1k 0

TL082CD VCC1 9V 0

R9 1k 0

3 20 8

R17 1k 0

28 3 R22 1k 0
8

TL082CD VCC1 9V

R23 100m

Fig. 7 Schematic of the bidirectional chaotic synchronization of coupled Jerk circuits signal. For synchronization of transmitter and receiver, bidirectional synchronization method of identical coupled Jerk circuits, is used. The sinusoidal wave signal of amplitude 1 V and frequency 2 kHz is added to the generated chaotic signal x and the S(t) = x + i(t) is fed into the receiver. The chaotic signal x is regenerated allowing a single subtraction to retrieve the transmitted signal, [x + i(t)] - xr = i(t), if x = xr. Fig.9 shows the MultiSIM 10.0 simulation results for the proposed masking signal communication scheme. Fig. 10 shows the circuit schematic for implementing the Jerks circuit chaotic masking communication system.

(a)

5 Conclusion
In this paper, the chaotic synchronization in coupled identical Jerk circuits has been investigated by implementing bidirectional synchronization technique. We have demonstrated with simulations that chaotic circuits can be synchronized and used in a secure communication scheme. Chaos synchronization and chaos masking were realized using MATLAB 2010 and MultiSIM 10.0 programs. Furthermore, some comparisons are made with some existing results. Finally, the simulation results demonstrate the effectiveness of the proposed scheme.

(b) Fig. 8 Synchronization phase portrait of y2 versus y1, for (a) Rc = 100 m and (b) Rc = 1 with MultiSIM 10.0.

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(a) (b) (c) Fig.9. MultiSIM 10.0 outputs of Jerks circuit masking communication system, for a sinusoidal wave signal of amplitude 1 V and frequency 2KHz: (a) Information signal, (b) Chaotic masking transmitted signal, (c) Retrieved signal.
R7 1k
4

1N4148

1N4148 23

R19 1k

30 U13

R30
4

U7A 4
2

D2 R4 1k C2 3 1N4148 5 VCC2 -9V R13 1k VCC2 C3 100nF U8A 4 8

2 1 3

U2A
2

24 R20 1k

D4 R33 1N4148 R21 1k C6 VCC2 -9V VCC2 U4A 26 0 38 V3

1 Vrms 2kHz 0 1k OPAMP_3T_VIRTUAL R31 31 R27 14 1k U14 1k

R2 R3 1k 1.6k C1

R8 1k

12
1

18 R14 1.6k C4 R15 1k 19 V2 1V 16

3

R16 1k
1

1k

U12

3 0 TL082CD

0 8 TL082CD 17 C5

R35 32
1k

1
OPAMP_3T_VIRTUAL

13 2 100nF 4 V1 1V 2 0 11 3
8

U5A 15 R6
1

29
OPAMP_3T_VIRTUAL

R32
1k

9
2

100nF U6A R5
1

100nF 21
4 2 1

100nF 25
4 2 1

100nF

R29
125k

1k

TL082CD

R1 1k 0

103
8

1k

6 7 R11 1k

0 40 R37 U16
1k

U1A R12 TL082CD 1k

TL082CD

U3A 22 TL082CD VCC1 R18 1k

2 1 4

R10 1k 0

37

TL082CD VCC1 9V 0

VCC1 0

R9 1k 0

203
8

R17 1k 0

283 R22 1k 0
8

34 R36 33
1k OPAMP_3T_VIRTUAL

U15

TL082CD VCC1 9V

R34
1k

35

OPAMP_3T_VIRTUAL

R23 100m

R38
1k

Fig. 10 Jerk circuit masking communication circuit. References: [1] A. Sambas, M. Sanjaya W.S and Halimatussadiyah, Unidirectional Chaotic Synchronization of Rossler Circuit and Its Application for Secure Communication, WSEAS Trans. Syst., Vol. 11(9), 2012, pp. 506515. [2] A. Sambas, M. Sanjaya W.S., M. Mamat and Halimatussadiyah, Design and Analysis Bidirectional Chaotic Synchronization of Rossler Circuit and Its Application for Secure Communication, Applied Mathematical Sciences, Vol. 7(1), 2013, pp.1121. [3] K. Nakajima and Y. Sawada, Experimental Studies on the Weak Coupling of Oscillatory Chemical Reaction Systems. J. Chem. Phys., Vol. 72(4), 1979, pp. 22312234. [4] M. Sanjaya W. S, M. Mamat, Z. Salleh, and I. Mohd, Bidirectional Chaotic Synchronization of Hindmarsh-Rose Neuron Model, Applied Mathematical Sciences, Vol. 5(54), 2011, pp. 26852695. [5] I. M. Kyprianidis, V. Papachristou, I. N. Stouboulos and Ch. K. Volos, Dynamics of Coupled Chaotic Bonhoeffer van der Pol Oscillators, WSEAS Trans. Syst., Vol. 11(9), 2012, pp. 516 I526. [6] Ch. K. Volos, N. G. Bardis, I. M. Kyprianidis and I. N. Stouboulos, Implementation of Mobile Robot by Using Double-Scroll Chaotic Attractors, WSEAS Recent Researches in

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Applications of Electrical and Computer Engineering, Vouliagmeni Beach, Athens, Greece. 2012, pp. 119124. [7] Ch. K. Volos, I. M. Kyprianidis and I. N. Stouboulos, Motion Control of Robots Using a Chaotic Truly Random Bits Generator, Journal of Engineering Science and Technology Review, Vol. 5(2), 2012, pp. 611. [8] J. C. Sprott, Dynamical Models of Love, Nonlinear Dyn. Psych. Life Sci., Vol. 8, 2004, pp. 303314. [9] M. Sanjaya W. S., I. Mohd, M. Mamat and Z. Salleh, Mathematical Model of Three Species Food Chain Interaction with Mixed Functional Response, International Journal of Modern Physics: Conference Series, Vol. 9, 2012, pp. 334340. [10] M. Sanjaya W. S, M. Mamat, Z. Salleh., I. Mohd and N. M. N. Noor, Numerical Simulation Dynamical Model of Three Species Food Chain with Holling Type-II Functional Response, Malaysian Journal of Mathematical Sciences, Vol. 5(1), 2004, pp. 112. [11] Ch. K. Volos, I. M. Kyprianidis, and I. N. Stouboulos, Synchronization Phenomena in Coupled Nonlinear Systems Applied in Economic Cycles, WSEAS Trans. Syst., Vol. 11(12), 2012, pp. 681690. [12] Ch. K. Volos, I. M. Kyprianidis, S. G. Stavrinides, I. N. Stouboulos, I. Magafas, anA. N. Anagnostopoulos, Nonlinear Dynamics of a Financial System from an Engineers Point of View, Journal of Engineering Science and Technology Review, Vol. 4(3), 2001, pp.281 285.

[13] Ch. K. Volos, I. M. Kyprianidis, and I. N. Stouboulos, Fingerprint Images Encryption Process Based on a Chaotic True Bits Generator, International Journal of Multimedia Intelligence and Security, Vol. 1(4), 2011, pp. 320335 [14] L. M. Pecora and T. L. Carroll, Synchronization in Chaotic Systems, Physical Review Letters, Vol. 64, 1990, pp. 821825. [15] K. M. Cuomo and A. V. Oppenheim, Circuit Implementation of Synchronized Chaos with Application to Communication, Phys. Rev. Lett., Vol. 71(1), 1993, pp. 6568. [16] J. C. Sprott, Simple Chaotic Systems and Circuits, Am. J. Phys., Vol. 68, 2000, pp. 758 763. [17] Q. H. Alsafasfeh and M. S. Al-Arni, A New Chaotic Behavior from Lorenz and Rossler Systems and Its Electronic Circuit Implementation, Circuits and Systems, Vol. 2, 2011, pp. 101105. [18] F. Han, Multi-Scroll Chaos Generation Via Linear Systems and Hysteresis Function Series, PhD thesis, Royal Melbourne Institute of Technology University, Australia, 2004. [19] A. L. Fradkov, and A. Y Pogromsky, Introduction to Control of Oscillations and Chaos, World Scientific, Singapore, 1998.

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