Existence of anticipatory, complete and lag synchronizations in time-delay systems

Existence of different kinds of synchronizations, namely anticipatory, complete and lag type synchronizations (both exact and approximate), are shown to be possible in time-delay coupled piecewise linear systems. We deduce stability condition for synchronization of such unidirectionally coupled systems following Krasovskii-Lyapunov theory. Transition from anticipatory to lag synchronization via complete synchronization as a function of coupling delay is discussed. The existence of exact synchronization is preceded by a region of approximate synchronization from desynchronized state as a function of a system parameter, whose value determines the stability condition for synchronization. The results are corroborated by the nature of similarity functions. A new type of oscillating synchronization that oscillates between anticipatory, complete and lag synchronization, is identified as a consequence of delay time modulation with suitable stability condition.