Master-Slave Synchronization for Nonlinear Systems based on Reduced Observers

In this article a global method for master-slave synchronization of nonlinear systems is provided. Based on a diffeomorphic transformation of the original dynamics, a reduced observer is designed such that the nonlinear state feedback law is independent of the inertial frame. Generally, the method requires non trivial computations but leads to global convergence results for the invariant tracking error. We illustrate the design procedure in detail for a master-slave synchronization of a bacterial growth model, which may escape to infinity in finite time.