Robust pre-specified time synchronization of chaotic systems by employing time-varying switching surfaces in the sliding mode control scheme
Khanzadeh Alireza, Pourgholi Mahdi†,
       

The state variable of Lu system (35) and Liu system (36) synchronized at t = 2 s with initial conditions Y0 = [−1.5 −2 −2.5] and X0 = [2 1.5 2.2].