Global robust synchronization for time-varying phase mismatching electro-mechanical gyrostat systems under variable substitution control

A master–slave scheme for global robust synchronization of two electro-mechanical gyrostat systems with time-varying phase mismatches under variable substitution control is presented in this paper. Under this scheme, a sufficient criterion for the global robust synchronization with bounded error is rigorously proved in the form of matrix inequality and the corresponding estimated error bound is mathematically given. On the basis of the criterion, further derivation brings some simple and optimized algebraic criteria for various single-variable coupling, whose performance is then verified through some numerical examples.