Lag synchronization between complex dynamical networks with different nodes

In this paper, lag synchronization between two complex dynamical networks with different nodes is investigated. Based on LaSalle invariance principle, combining the nonlinear feedback control method and adaptive control technique, some synchronization criteria are derived to ensure lag synchronization between two complex networks. The proposed technique is applied to two general complex dynamical networks composed of 10 different Lü chaotic systems. Numeric evidence shows that the synchronization speed sensitively depends on the update gain μ and time-varying delay τ(t). Numerical simulations are given to verify the effectiveness of the proposed synchronization scheme.