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

Control signals applied to the slave system in order to synchronize Lu system (35) and Liu system (36) at t = 1 s with initial conditions Y0 = [−1.5 −2 −2.5] and X0 = [2 1.5 2.2].