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Improved results on sampled-data synchronization control for chaotic Lur'e systems

  • Received: 16 January 2025 Revised: 26 February 2025 Accepted: 13 March 2025 Published: 31 March 2025
  • MSC : 34D20

  • This paper examines the problem of master-slave synchronization control for chaotic Lur'e systems (CLS) under sampled-data conditions. Initially, a two-sided looped Lyapunov function is constructed by fully leveraging the system characteristics and information regarding the sampling mode. Subsequently, based on the Lyapunov stability theory and using the integral inequality of free matrices, we establish the stability criteria for the synchronization error system of CLS. Utilizing these conditions, we compute the sampling controller gains through an enhanced iterative conditioned cone complementarity linearization iteration algorithm, thereby achieving synchronization of the master-slave system over more extended sampling periods. Ultimately, numerical examples are presented to demonstrate that the proposed method outperforms existing approaches documented in the literature.

    Citation: Xinyu Li, Wei Wang, Jinming Liang. Improved results on sampled-data synchronization control for chaotic Lur'e systems[J]. AIMS Mathematics, 2025, 10(3): 7355-7369. doi: 10.3934/math.2025337

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  • This paper examines the problem of master-slave synchronization control for chaotic Lur'e systems (CLS) under sampled-data conditions. Initially, a two-sided looped Lyapunov function is constructed by fully leveraging the system characteristics and information regarding the sampling mode. Subsequently, based on the Lyapunov stability theory and using the integral inequality of free matrices, we establish the stability criteria for the synchronization error system of CLS. Utilizing these conditions, we compute the sampling controller gains through an enhanced iterative conditioned cone complementarity linearization iteration algorithm, thereby achieving synchronization of the master-slave system over more extended sampling periods. Ultimately, numerical examples are presented to demonstrate that the proposed method outperforms existing approaches documented in the literature.



    Because of the universal existence of predation in nature, predator-prey models, especially delayed predator-prey models, have been a research topic in the field of population dynamics. In order to research mutual relationship between biological populations and regulating internal development, a great number of predator-prey models have been established. By studying the various dynamic behaviors of predator-prey models, we find that the parameters have a significant effect on the population density of organisms under certain environmental conditions. In recent years, there have been numerous research results on predator-prey models, and many excellent achievements have been presented. For instance, Enatsu et al. [1] explored the effects of cooperative hunting and maturation delay on the coexistence of predator-prey. Majumdar et al. [2] analyzed the equilibrium points and local bifurcations of the non-delayed prey-predator model, as well as the local and global stability of the interior equilibrium point in the presence of delay. Gao and Li. [3] discussed the Hopf bifurcation of a symbiotic predator-prey model with double time delay. Yan et al. [4] analyzed how nonlocal prey competition can trigger spatially inhomogeneous Hopf bifurcation and Turing instability, and its impacts on the amplitude of periodic solutions and the risk of species extinction. For more detailed studies, one can see [5,6,7].

    In 2023, Pal et al. [8] put forward the following predator-prey model:

    {du1dt=11+ϖ1u2(t)γu1(t)d(1+ϖ2u2(t))u21(t)11+ϖ3u3a1u1(t)u2(t)m+u1(t),du2dt=11+ϖ3u3(t)ˉλ1a1u1(t)u2(t)m+u1(t)ξ1u2(t)ξ2(1+ϖ4u3(t))u22(t)a2u2(t)u3(t),du3dt=βu3(t)1+β0u3(t)+ˉλ2a2u2(t)u3(t)ξ3u3(t), (1.1)

    where u1(t), u2(t), u3(t) represent the densities of prey, intermediate predators, and top predators at any time t>0. γ denotes the intrinsic growth rate of the prey species in the absence of predators, and d is the density-related mortality rate, a1 is the capture rate of prey species by intermediate predators, m is the half saturation constant, ˉλ1 represents the respective gain in intermediate predator density for prey and top predators, being ˉλ1 is between 0 and 1, ˉλ2 stands for the proportional constant between the growth rate of the top predator and the response of the function, ξ1ξ3 represent the natural mortality of intermediate predators, the coefficient of intraspecies competition of intermediate predators, and the natural mortality of top predators, respectively, β and β0 represent per capita regeneration rate and density-dependent intensity, ϖ1ϖ4 are all fear parameters, ϖ1 and ϖ2 are the effects of fear on the reproduction ability and intraspecies competition of prey populations, ϖ3 is the changes in the behavior of intermediate predators due to the presence of apex predators, and ϖ4 is the impacts of predators, fear of top predators on intraspecies competition among intermediate predators. For a more detailed explanation of system (1.1), see [8]. Pal et al. [8] examined how fear responses influence population reproduction and foraging behavior in a three-species food chain model, and affect the system's stability of model (1.1). In numerous instances, the introduction of time delay in predator-prey models is necessary because the time delays in population development have an effect on the density of prey and predators. Based on this consideration, we can build a more suitable delayed predator-prey model, since the density of prey u1(t) not only depends on the current but also the past density of intermediate predators. In addition, the density of intermediate predator and top predators also depend on the current density and past density of top predators. Assuming that the density of prey is affected by the self-feedback time from u1 to u1, the density of intermediate predators is affected by the self-feedback time from u2 to u2, and the density of top predators is affected by the self-feedback time from u3 to u3. In many cases, the self-feedback time for u1u3 is different. For the sake of mathematical simplification, we assume that all the self-feedback time for u1u3 is similar, then, we can adjust the model (1.1) as follows:

    {du1dt=11+ϖ1u2(tθ)γu1(t)d(1+ϖ2u2(t))u21(t)11+ϖ3u3(tθ)a1u1(t)u2(t)m+u1(t),du2dt=11+ϖ3u3(tθ)ˉλ1a1u1(t)u2(t)m+u1(t)ξ1u2(t)ξ2(1+ϖ4u3(t))u22(t)a2u2(t)u3(t),du3dt=βu3(t)1+β0u3(tθ)+ˉλ2a2u2(t)u3(t)ξ3u3(t), (1.2)

    where θ0 represents the time delay, and all other parameters are positive real numbers. Many studies indicate that delay is a key factor affecting the dynamic characteristics of various differential systems. In a variety of examples, delay leads to loss of stability and appearance of bifurcation, and trigger chaotic behavior and so forth [9,10,11]. Among these phenomena, delay-induced Hopf bifurcation is a significant dynamic feature. In biology, delay-induced Hopf bifurcation effectively describes the equilibrium relationship between biological population densities. Therefore, we argue that the in-depth study of delay-induced Hopf bifurcation in predator-prey models holds crucial theoretical value. Inspired by the viewpoint mentioned above, we are going to examine the delay-induced Hopf bifurcation and its control for model (1.2). Specifically, we aim to assess the following essential issues: (1) Analyze the characteristics of the solution of system (1.2), such as non-negativity, existence, uniqueness, and boundedness. (2) Investigate the occurrence of the Hopf bifurcation phenomenon and stability of the system (1.2). (3) Design three disparate controllers to adjust the stability region of the system and control the time of bifurcation onset in model (1.2).

    The crux prominent points in this study are described as follows: (i) Based on past research achievements, a new delay-independent bifurcation and stability criterion for system (1.2) is established. (ii) By employing various controllers, both the stability domain and the time of bifurcation onset in system (1.2) can be effectively managed. (iii) The study explores how time delay influences the control of Hopf bifurcation phenomena and the stabilization of predator and prey densities in model (1.2)

    The structure of this article is arranged as follows: The properties of the solution for system (1.2), which include existence and uniqueness, non-negativity, and boundedness of the solution are presented in Section 2. Section 3 focuses on the bifurcation behavior and stability of the system (1.2). Section 4 addresses the control problem of the bifurcation phenomenon in system (1.2) by developing a practical hybrid delayed feedback controller that incorporates parameter perturbation with delay and state feedback. Section 5 selects a rational hybrid delayed feedback controller to solve the bifurcation control issue in the system (1.2) by means of combining parametric perturbation with delay feedback and state feedback. Section 6 manages the control problem of the bifurcation phenomenon in system (1.2) by devising a practical extended hybrid delayed feedback controller, which includes parameter perturbation with delay and state feedback. Section 7 presents simulation results obtained using Matlab software to confirm the critical findings. A conclusion is provided in Section 8.

    In this section, we are about to construct a reasonable function to discuss the well-posedness of solutions to model (1.2) (including boundedness, existence, uniqueness, and non-negativity) by utilizing fixed point theory and inequality technique.

    Theorem 2.1. Let Ω={(u1,u2,u3)R3:max{|u1|,|u2|,|u3|}U}, where U>0 indicates a constant. For (u10,u20,u30)Ω, system (1.2) under the initial value (u10,u20,u30) owns a unique solution U=(u1,u2,u3)Ω.

    Proof. Set

    f(U)=(f1(U),f2(U),f3(U)), (2.1)

    where

    {f1(U)=11+ϖ1u2(tθ)γu1(t)d(1+ϖ2u2(t))u21(t)11+ϖ3u3(tθ)a1u1(t)u2(t)m+u1(t),f2(U)=11+ϖ3u3(tθ)ˉλ1a1u1(t)u2(t)m+u1(t)ξ1u2(t)ξ2(1+ϖ4u3(t))u22(t)a2u2(t)u3(t),f3(U)=βu3(t)1+β0u3(tθ)+ˉλ2a2u2(t)u3(t)ξ3u3(t). (2.2)

    For arbitrary U,˜UΩ, we obtain

    ||f(U)f(˜U)||=|[11+ϖ1u2(tθ)γu1(t)d(1+ϖ2u2(t))u21(t)11+ϖ3u3(tθ)a1u1(t)u2(t)m+u1(t)][11+ϖ1˜u2(tθ)γ˜u1(t)d(1+ϖ2˜u2(t))˜u21(t)11+ϖ3˜u3(tθ)a1˜u1(t)˜u2(t)m+˜u1(t)]|+|[1ϖ3u3(tθ)ˉλ1a1u1(t)u2(t)m+u1(t)ξ1u2(t)ξ2(1+ϖ4u3)u22(t)a2u2(t)u3(t)][1ϖ3˜u3(tθ)ˉλ1a1˜u1˜u2m+˜u1ξ1˜u2ξ2(1+ϖ4˜u3)˜u22a2˜u2˜u3]|+|[βu3(t)1+β0u3(tθ)+ˉλ2a2u2(t)u3(t)ξ3u3(t)][β˜u3(t)1+β0˜u3(tθ)+ˉλ2a2˜u2(t)˜u3(t)ξ3˜u3(t)]|=|[11+ϖ1u2(tθ)γu1(t)du21(t)du21(t)ϖ2u2(t)11+ϖ3u3(tθ)a1u1(t)u2(t)m+u1(t)][11+ϖ1˜u2(tθ)γ˜u1d˜u21d˜u21(t)ϖ2˜u2(t)11+ϖ3˜u3(tθ)a1˜u1˜u2m+˜u1]|+|[1ϖ3u3(tθ)ˉλ1a1u1(t)u2(t)m+u1(t)ξ1u2(t)ξ2u22(t)ξ2ϖ4u3(t)u22(t)a2u2(t)u3(t)][1ϖ3˜u3(tθ)ˉλ1a1˜u1(t)˜u2(t)m+˜u1(t)ξ1˜u2(t)ξ2˜u22(t)ξ2ϖ4˜u3(t)˜u22a2˜u2(t)˜u3(t)]|+|[βu3(t)1+β0u3(tθ)+ˉλ2a2u2(t)u3(t)ξ3u3(t)][β˜u3(t)1+β0˜u3(tθ)+ˉλ2a2˜u2(t)˜u3(t)ξ3˜u3(t)]|γ|u1˜u1|+γϖ1U|u1˜u1|+2dU|u1˜u1|+2dϖ2U2|u1˜u1|+a1mU|u1˜u1|+ˉλ1a1mU|u1˜u1|+U2dϖ2|u2˜u2|+a1mU|u2˜u2|+a1m2U2|u2˜u2|+ˉλ1a1mU|u2˜u2|+ˉλ1a1m2U2|u2˜u2|+ξ1|u2˜u2|+2ξ2U|u2˜u2|+2ξ2ϖ4U2|u2˜u2|+a2U|u2˜u2|+ˉλ2a2U|u2˜u2|+ξ2ϖ4U2|u3˜u3|+a2U|u3˜u3|+β|u3˜u3|+ˉλ2a2U|u3˜u3|+ξ3|u3˜u3|ˉρ1|u1ˉu1|+ˉρ2|u2ˉu2|+ˉρ3|u3ˉu3|=[γ(1+ϖ1U)+2dU(1+ϖ2U)+a1Um(1+ˉλ1)]|u1˜u1|+[(dϖ2U2+a1Um(1+Um+ˉλ1+ˉλ1Um)+ξ1+2ξ2U(1+ϖ4U)+a2U(1+ˉλ2)]|u2˜u2|+[ξ2ϖ4U2+a2U(1+ˉλ2)+β+ξ3]|u2ˉu2|.ρ(|u1ˉu1|+|u2ˉu2|+|u3ˉu3|), (2.3)

    where

    {ˉρ1=γ(1+ϖ1U)+2dU(1+ϖ2U)+a1Um(1+ˉλ1),ˉρ2=dϖ2U2+a1Um(1+Um+ˉλ1+ˉλ1Um)+ξ1+2ξ2U(1+ϖ4U)+a2U(1+ˉλ2),ˉρ3=ξ2ϖ4U2+a2U(1+ˉλ2)+β+ξ3. (2.4)

    Let

    ρ=max{ˉρ1,ˉρ2,ˉρ3}. (2.5)

    From (2.3), we get

    ||f(U)f(˜U)||ρ||U˜U||. (2.6)

    Thus, f(U) satisfies the Lipschitz condition for U. Applying the fixed point theorem, one can readily conclude that Theorem 2.1 is accurate.

    Theorem 2.2. Each solution to model (1.2) beginning with R3+ is non-negative.

    Proof. Based on the first equation of system (1.2), we can obtain

    du1dt=γu11+ϖ1u2(tθ)d(1+ϖ2u2)u2111+ϖ3u3(tθ)a1u1u2m+u1, (2.7)

    then

    du1u1=(γ1+ϖ1u2d(1+ϖ2u2)u111+ϖ3u3(tθ)a1u2m+u1)dt, (2.8)

    which results in

    t0du1u1=t0[γ1+ϖ1u2(tθ)d(1+ϖ2u2(s))u1(s)11+ϖ3u3(tθ)a1u2(s)m+u1(s)]ds. (2.9)

    Then one derives

    u1(t)u1(0)=exp{t0[γ1+ϖ1u2(tθ)d(1+ϖ2u2(s))11+ϖ3u3(tθ)a1u1(s)m+u1(s)]ds}. (2.10)

    Thus

    u1(t)=u1(0)×exp{t0[γ1+ϖ1u2(tθ)d(1+ϖ2u2(s))11+ϖ3u3(tθ)a1u1(s)m+u1(s)]ds}>0. (2.11)

    By the same method, we know

    u2(t)=u2(0)×exp{t0[1ϖ3u3(tθ)ˉλ1ξ1a1u1(s)m+u1(s)ξ2(1+ϖ4u3(s))u2(s)a2u3(s)]ds}>0. (2.12)
    u3(t)=u3(0)exp{t0[η1+η0u3(tθ)+ˉλ2a2u2(s)ξ3]ds}>0. (2.13)

    Hence, Theorem 2.2 holds true.

    Theorem 2.3. If θ=0 and ˉλ1a1<ξ1,ˉλ2<1,η<ξ3, therefore, all solutions of system (1.2) initialized at R3+ are uniformly bounded.

    Proof. Let

    W(t)=u1(t)+u2(t)+u3(t). (2.14)

    Then

    dW(t)dt=du1(t)dt+du2(t)dt+du3(t)dt=[11+ϖ1u2(tθ)γu1d(1+ϖ2u2)u2111+ϖ3u3(tθ)a1u1u2m+u1]+[11+ϖ3u3(tθ)ˉλ1a1u1u2m+u1ξ2u2ξ2(1+ϖ4u3)u22a2u2u3]+[β1+β0u3(tθ)+ˉλ2a2u2u3ξ3u3]γu1+d(1+ϖ2u2)u21+ˉλ1a1u2ξ1u2ξ2(1+ϖ4u3)u22a2u2u3+ηu3+ˉλ2a2u2u3ξ3u3(γu1+(ˉλ1a1ξ1)u2+(ηξ3)u3)+2γu1du21(a2ˉλ2a2)u2u3=γ0W(t)+γ2d, (2.15)

    where where

    γ0=min{γ,ξ1θ1a1,ξ3η}. (2.16)

    According to Eq (2.15), we obtain

    W(t)γ2/dγ0,whent. (2.17)

    Consequently, the solutions to the system (1.2) are uniformly bounded.

    In this section, we intend to explore the issues of bifurcation and stability of the model (1.2). To start, we suppose that F(u1,u2,u3) is the equilibrium point of model (1.2), then u1u3 adhere to the following requirement:

    {11+ϖ1u2γu1d(1+ϖ2u2)u2111+ϖ3u3a1u1u2m+u1=0,11+ϖ3u3ˉλ1a1u1u2m+u1ξ1u2ξ2(1+ϖ4u3)u22a2u2u3=0,βu31+β0u3+ˉλ2a2u2u3ξ3u3=0. (3.1)

    Let

    {ˉu1(t)=u1(t)u1,ˉu2(t)=u1(t)u2,ˉu3(t)=u2(t)u3. (3.2)

    Insert system (3.2) into system (1.2) and we obtain the linear system of model (1.2) at F(u1,u2,u3):

    {dˉu1dt=l1ˉu1+l2ˉu2l3ˉu2(tθ)l4ˉu3(tθ),dˉu2dt=l5ˉu1+l6ˉu2l7ˉu3l8ˉu2(tθ),dˉu2dt=l9ˉu2+l10ˉu3l11ˉu3(tθ), (3.3)

    where

    {l1=γ1+ϖ1u22dϖ2u1u2a1u2(1+ϖ3u3)(m+u1)+a1u1u2(1+ϖ3u3)(m+u1)2,l2=a1u1(1+ϖ3u3)(m+u1),l3=γϖ1u1(1+ϖ1u2)2,l4=a1ϖ3u1u2(1+ϖ3u3)2(m+u1),l5=ˉλ1a1u2(1+ϖ3u3)(m+u1)ˉλ1a1u1u2(1+ϖ3u3)(m+u1)2,l6=ˉλ1a1u1(1+ϖ3u3)(m+u1)ξ12ξ2(1+ϖ4u2u3)a2u3,l7=ξ2ϖ4u22+a2u2,l8=ˉλ1a1ϖ3u1u2(1+ϖ3u3)2(m+u1),l9=ˉλ2a2u3,l10=β1+β0u3+ˉλ2a2u2ξ3,l11=ββ0u3(1+β0u3)2. (3.4)

    The characteristic equation for system (3.3) takes the following expression:

    det[λl1l2+l3eλθl4eλθl5λl6l7+l8eλθ0l9λl10+l11eλθ]=0, (3.5)

    which results in

    λ3+c1λ2+c2λ+c3+(c4λ2+c5λ+c6)eλθ+c7e2λθ=0, (3.6)

    where

    {c1=l10l6l1,c2=l6l10+l7l9+l1l10+l1l6l2l5,c3=l2l5l10l1l6l10l1l7l9,c4=l11,c5=l8l9+l3l5l6l11l1l11,c6=l1l6l11l1b8l9l2l5l11l3l5l10l4l5l9,c7=l3l5l11. (3.7)

    If θ=0. Equation (3.6) changes to

    λ3+(c1+c4)λ2+(c2+c5)λ+c3+c6+c7=0. (3.8)

    If

    (Q1){D1=c1+c3>0,D2=|c1+c41c3+c6+c7c2+c5|>0,D3=(c3+c6+c7)D2>0.

    is satisfied, then the three roots λ1λ3 of Eq (3.8) have negative real parts. Thus the equilibrium point F(u1,u2,u1) of system (1.2) under θ=0 is locally asymptotically stable.

    Presume that λ=iν is the root of Eq (3.6), then Eq (3.6) turns into

    (iν)3+c1(iν)2+c2iν+c3+[c4(iν)2+c5iν+c6]eiνθ+c7e2iνθ=0, (3.9)

    which produces

    {Θ1(ν)sinνθ+Θ2(ν)cosνθ=Θ3(ν),Θ4(ν)sinνθ+Θ5(ν)cosνθ=Θ6(ν), (3.10)

    where

    {Θ1=ν3c2ν,Θ2=c1ν2+e1,Θ3=c4ν2c6,Θ4=c1ν2+e2,Θ5=ν3+c2ν,Θ5=c5ν, (3.11)

    and

    {e1=c3+c7,e2=c3c7. (3.12)

    It follows from (3.10) that

    {sinνθ=Θ2Θ6Θ3Θ5Θ2Θ4Θ1Θ5,cosνθ=Θ3Θ4Θ1Θ6Θ2Θ4Θ1Θ5. (3.13)

    Because of cos2νθ+sin2νθ=1, we can get

    [Θ2Θ6Θ3Θ5Θ2Θ4Θ1Θ5]2+[Θ3Θ4Θ1Θ6Θ2Θ4Θ1Θ5]2=1. (3.14)

    So

    Θ21Θ26+Θ22Θ26+Θ23Θ24+Θ23Θ25Θ21Θ25Θ22Θ242Θ1Θ3Θ4Θ62Θ2Θ3Θ5Θ6+2Θ1Θ2Θ4Θ5=0. (3.15)

    Hence, the result is as follows:

    ν12G1ν10G2ν8G3ν6G4ν4+G5ν2G6=0. (3.16)

    where

    {G1=c24+4c22c21,G2=c25+c21c24+2c1(e1+e2+2c1c4)c416c222c2c242c4c5,G3=c21c25+c22c24+c26+4c32+4c2c4c6+2c5c5e2+(e1+e2)(2c314c1c2)2c21c222c1c24e22c21c4c62c2c252c4c5e1,G4=c22c24+c21c25+c23e22+2c2c3c4(1e2)+2c4c5(e1e2)+4e1e2(c2c21)+4c1c3c25e2c21(e21+e22)c422c2c5(c2c3+c5)2c1c24e1,G5=c22c25+c24e21+2c1(e1e22+e21e2)+2c2c4c5(e2e1)2c1c25e22c22e1e22c3c5e22,G6=c25e22e21e22. (3.17)

    Let

    Υ1(ν)=ν12G1ν10G2ν8G3ν6G4ν4+G5ν2G6. (3.18)

    Suppose that

    (Q2)|c5|>|e1|.

    Due to (Q2), we know Υ1(0)=G6<0, given that limνΥ1(ν)>0, we can conclude that Eq (3.17) has at least one positive real root. Therefore, Eq (3.6) has at least one pair of purely roots. Without loss of generality, we can postulate that Eq (3.17) has twelve positive real roots (say νj,j=1,2,3,,12). In light of (3.10), one gets

    θ(n)j=1νj[arccos(Θ2(νj)Θ6(νj)Θ3(νj)Θ5(νj)Θ2(νj)(Θ4(νj)Θ1(νj)Θ5(νj))+2nπ], (3.19)

    where j=1,2,3,12;n=0,1,2,;

    {Θ1(νj)=ν3jc2νj,Θ2(νj)=c1ν2j+e1,Θ3(νj)=c4ν2jc6,Θ4(νj)=c1ν2j+e2,Θ5(νj)=ν3j+c2νj,Θ6(νj)=c5νj. (3.20)

    Assume θ0=min{j=1,2,3,,12;n=0,1,2,}{θ(n)j} and suppose that when θ=θ0, Eq (3.6) has a pair of imaginary roots ±iν0. In the next step, the assumption presented is:

    (Q3)J1RJ2R+J1IJ2I>0,

    where

    {J1R=(c23ν20)cosν0θ02c1ν0sinν0θ0+5c4+c5,J1I=(c23ν20)sinν0θ0+2c1ν0cosν0θ0,J2R=(c7ν0+c3ν0c1ν30)sinν0θ0+(c2ν20ν40)cosν0θ0,J2I=(c2ν20ν40)sinν0θ0+(c7ν0+c1ν30c3ν0)cosν0θ0. (3.21)

    Suppose that λ(θ)=ϱ1(θ)+iϱ2(θ) is the root of Eq (3.6) at θ=θ0 such that ϵ1(θ0)=0, ϵ2(θ0)=ν0, then Re(dλdθ)|θ=θ=θ0,ν=ν0>0.

    Proof. Using Eq (3.6), we can gain

    [(3λ2+2c1λ+c2)eλθ]dλdθ+(λ3+c1λ2+c2λ+c3)eλθ(dλdθθ+λ)+2c4dλdθ+c5dλdθc7eλθ(dλdθθ+λ)=0. (3.22)

    It means that

    (dλdθ)1=J1(λ)J2(λ)θλ, (3.23)

    where

    {J1(λ)=(3λ2+c1λ+c2)eλθ+2c4+c5,J2(λ)=c7λeλθ(λ3+c1λ2+c2λ+c3)λeλθ. (3.24)

    Hence

    Re[(dλdθ)1]θ=θ0,ν=ν0=Re[J1(λ)J2(λ)]θ=θ0,ν=ν0=J1RJ2R+J1IJ2IJ22R+J22I. (3.25)

    Through this assumption (Q3), we obtain

    Re[(dλdθ)1]θ=θ0,ν=ν0>0. (3.26)

    The proof is concluded. Based on the discussion above, the following result can be easily obtained.

    Theorem 3.1. Assume that (Q1)(Q3) are valid, then the equilibrium point F(u1,u2,u3) of model (3.1) is locally asymptotically stable state if θ[0,θ0). Moreover, model (3.1) exhibits a cluster of Hopf bifurcations around the equilibrium point F(u1,u2,u3) when θ=θ0.

    In this portion, we will study the time of Hopf bifurcation onset in system (1.2) by utilizing a sensible hybrid controller, containing parameter perturbation with delay and state feedback. Building on the concepts from [13,14], we propose the following controlled predator-prey model:

    {du1dt=11+ϖ1u2(tθ)γu1(t)d(1+ϖ2u2(t))u21(t)11+ϖ3u3(tθ)a1u1(t)u2(t)m+u1(t),du2dt=11+ϖ3u3(tθ)ˉλ1a1u1(t)u2(t)m+u1(t)ξ1u2(t)ξ2(1+ϖ4u3(t))u22(t)a2u2(t)u3(t),du3dt=η1[βu3(t)1+β0u3(tθ)+ˉλ2a2u2(t)u3(t)ξ3u3(t)]+η2[u3(t)u3(tθ)], (4.1)

    where η1,η2 indicate control parameters. System (4.1) shares the same equilibrium point F(u1,u2,u3) as that in system (1.2). Let

    {u1=u1(t)ˉu1(t),u2=u1(t)ˉu2(t),u3=u2(t)ˉu1(t). (4.2)

    The linear system of system (4.1) near F(u1,u2,u2) can be represented as follows:

    {dˉu1dt=k1ˉu1+k2ˉu2k3ˉu2(tθ)+k4ˉu3(tθ),dˉu2dt=k5ˉu1+67ˉu2k7ˉu3k8ˉu3(tθ),dˉu2dt=k9ˉu2+k10ˉu3k11ˉu3(tθ), (4.3)

    where

    {k1=γ1+ϖ1u22du1(1+ϖ2u2)a1u2(1+ϖ3u3)(m+u1)(1u1m+u1),k2=a1u1(1+ϖ3u3)(m+u1),k3=γϖ1u1(1+ϖ1u2)2,k4=a1ϖ3u1u2(1+ϖ3u3)2(m+u1),k5=ˉλ1a1u2(1+ϖ3u3)(m+u1)(1u1m+u1),k6=ˉλ1a1u1(1+ϖ3u3)(m+u1)ξ12ξ2(1+ϖ4u2u3)a2u3,k7=ξ2ϖ4u22+a2u2,k8=ˉλ1a1ϖ3u1u2(1+ϖ3u3)2(m+u1),k9=ˉλ2a2u3,k10=η1[β1+β0u3+ˉλ2a2u2ξ3],k11=ββ0u3(1+β0u3)2+η2. (4.4)

    The characteristic equation of system (4.3) is given by the following expression:

    det[λk1k2+k3eλθk4eλθk5λk6k7+k8eλθ0k9λk10+k11eλθ]=0, (4.5)

    which leads to

    λ3+h1λ2+h2λ+h3+(h4λ2+h5λ+h6)eλθ+h7e2λθ=0, (4.6)

    where

    {h1=k10k6k1,h2=k6k10+k7k9+k1k10+k1k6k2k5,h3=k2k5k10k1k6k10k1k7k9,h4=k11,h5=k8k9+k3k5k6k11k1k11,h6=k1k6k11k1k8k9k2k5k11k3k5k10,h7=k3k5k11. (4.7)

    If θ=0, then Eq (4.6) simplifies to

    λ3+(h1+h4)λ2+(h2+h5)λ+h3+h6+h7=0. (4.8)

    Thus, all roots of Eq (4.8) have negative real parts if and only if

    (Q4){1=h1+h4>0,2=det[h1+h41h3+h6+h7h2+h5]>0,3=(h3+h6+h7)2>0. (4.9)

    is satisfied, then the three roots λ1λ3 of Eq (4.8) have negative real parts. Thus the equilibrium point F(u1,u2,u3) of system (4.1) with θ=0 is locally asymptotically stable.

    Assume that λ=iν is the root of Eq (4.6), then Eq (4.6) becomes:

    ((iν)3+h1(iν)2+h2iν+h3)eiνθ+h4(iν)2+h5iν+h6+h7eiνθ=0, (4.10)

    From Eq (4.10), we can deduce that

    {Ψ1(ν)sinνθ+Ψ2(ν)cosνθ=Ψ3(ν),Ψ4(ν)sinνθ+Ψ5cosνθ=Ψ6(ν), (4.11)

    where

    {Ψ1=ν3h2ν,Ψ2=h1ν2+q1,Ψ3=h4nu2h6,Ψ4=h1ν2+q2,Ψ5=ν3+h2ν,Ψ5=h5ν, (4.12)

    and

    {q1=h3+h7,q2=h3h7. (4.13)

    This means that

    {sinνθ=Ψ2Ψ6Ψ3Ψ5Ψ2Ψ4Ψ1Ψ5,cosνθ=Ψ3Ψ4Ψ1Ψ6Ψ2Ψ4Ψ1Ψ5. (4.14)

    On account of cos2νθ+sin2νθ=1, from (4.14), it can be concluded that

    [Ψ2(ν)Ψ4(ν)Ψ3(ν)Ψ5(ν)]2+[Ψ3(ν)Ψ4(ν)Ψ1(ν)Ψ6(ν)]2=[Ψ2(ν)Ψ4(ν)Ψ1(ν)Ψ5(ν)]2. (4.15)

    Thus, the following conclusions can be drawn

    ν12V1ν10V2ν8V3ν6V4ν4V5ν2V6=0, (4.16)

    where

    {V1=h24+4h22h21,V2=h25+h21h24+2h1(q1+q2+2h1h4)h416h222h2h242h4h5,V3=h21h25+h22h24+h26+4h32+4h2h4h6+2h5h5q2+(q1+q2)(2h314h1h2)2h21h222h1h24e22h21h4h62h2h252c4h5q1,V4=h22h24+h21h25+h23q22+2h2h3h4(1q2)+2h4h5(q1q2)+4q1q2(h2h21)+4h1h3h25q2h21(q21+q22)h422q2q5(q2q3+h5)2h1h24q1,V5=h22h25+h24q21+2h1(q1q22+q21q2)+2q2q4q5(q2q1)2h1h25q22h22q1q22h3h5q22,V6=h25q22q21q22. (4.17)

    Let

    Υ2(ν)=ν12V1ν10V2ν8V3ν6V4ν4+V5ν2V6. (4.18)

    Suppose that

    (Q5)|h5|>|q1|.

    If (Q5) remains, then Υ2(0)=V6<0, since limνΥ2(ν)>0, then the Eq (4.16) possesses at least one positive real root. Consequently, Eq (4.6) has at least one pair of purely imaginary roots. Without loss of generality, we can assume that Eq (4.16) has twelve positive real roots (say νj,j=1,2,3,,12). Relying on (4.14), we know

    θ(k)j=1νj[arccos(Ψ2(νj)Ψ6(νj)Ψ3(νj)Ψ5(νj)Ψ2(νj)(Ψ4(νj)Ψ1(νj)Ψ5(νj)+2kπ)], (4.19)

    where j=1,2,3,,12;k=0,1,2,. Assume θ=min{j=1,2,3,,12;k=0,1,2,}{θ(k)j} and suppose that when θ=θ, Eq (4.6) has a pair of imaginary roots ±iν0.

    Next, we present the following assumption:

    (Q6)M1RM2R+M1IM2I>0,

    where

    {M1R=(h23ν02)cosν0θ02h1ν0sinν0θ0+2h4+h5,M1I=(h23ν02)sinν0θ0+2h1ν0cosν0θ0,M2R=(h7ν0+h3ν0h1ν03)sinν0θ0+(h2ν20ν04)cosν0θ0,M2I=(h2ν20ν04)sinν0θ0+(h7ν0+h1ν03h3ν0)cosν0θ0. (4.20)

    Lemma 4.1. Suppose that λ(θ)=ˉϱ1(θ)+iˉϱ2(θ) is the root of Eq (4.6) at θ=θ such that ˉϱ1(θ)=0, ˉϱ2(θ)=ν0, then Re(dλdθ)|θ=θ,ν=ν0>0.

    Proof. It follows from Eq (4.6) that

    λ3+h1λ2+h2λ+h3+(h4λ2+h5λ+h6)eλθ+h7e2λθ=0, (4.21)

    we can get

    [(3λ2+2h1λ+h2)eλθ]dλdθ+(λ3+h1λ2+h2λ+h3)eλθ(dλdθθ+λ)+2h4dλdθ+h5dλdθh7eλθ(dλdθθ+λ)=0. (4.22)

    It means that

    (dλdθ)1=M1(λ)M2(λ)θλ, (4.23)

    where

    {M1(λ)=(3λ2+h1λ+h2)eλθ+2h4+h5,M2(λ)=h7λeλθ(λ3+h1λ2+h2λ+h3)λeλθ. (4.24)

    Hence

    Re[(dλdθ)1]θ=θ,ν=ν0=Re[M1(λ)M2(λ)]θ=θ,ν=ν0=M1RM2R+M1IM2IM22R+M22I. (4.25)

    Through this assumption (Q6), we obtain

    Re[(dλdθ)1]θ=θ,ν=ν0>0. (4.26)

    The proof is concluded. Based on the discussion above, the following result can be easily obtained

    Theorem 4.1. Assuming that (Q4)(Q6) is valid, then the equilibrium point F(u1,u2,u3) of model (4.1) is locally asymptotically stable if θ[0,θ); moreover, model (4.1) exhibits a cluster of Hopf bifurcations around the equilibrium point F(u1,u2,u3) when θ=θ.

    Remark 4.1. In this paper, the purpose of control is to adjust the stability domain and the time of onset of Hopf bifurcation. In this section, we enlarge (or reduce) some parameter values of model (1.2) and add (or reduce) a suitable parameter perturbation with delay to adjust the density of top predators and then achieve our control objectives. In the third equation, η1 and η2 are feedback gain parameters. If η1>0(<0), the density of top predators increases (decreases) and if η2>0(<0), parameter perturbation increases (decreases). In a biological sense, we realize the balance of biological populations (the densities of prey, intermediate predators, and top predators) via this hybrid controller. Of course, we can add this control to other equations of model (1.2), but whether the control goal can be achieved will be explored it via mathematical analysis and computer simulation.

    In this segment, we will study the Hopf bifurcation problem of system (1.2) through the use of a reasonable hybrid controller that combines parameter perturbation with delay and state feedback. Based on the ideas presented in [13,14], we develop the following controlled predator-prey model:

    {du1dt=11+ϖ1u2(tθ)γu1(t)d(1+ϖ2u2(t))u21(t)11+ϖ3u3(tθ)a1u1(t)u2(t)m+u1(t),du2dt=ρ1[11+ϖ3u3(tθ)ˉλ1a1u1(t)u2(t)m+u1(t)ξ1u2(t)ξ2(1+ϖ4u3(t))u22(t)a2u2(t)u3(t)]+ρ2[u2(t)u2(tθ)],du3dt=βu3(t)1+β0u3(tθ)+ˉλ2a2u2(t)u3(t)ξ3u3(t), (5.1)

    where ρ1,ρ2 indicate control parameters. System (5.1) shares the same equilibrium point as that in system (1.2). Let

    {u1=u1(t)ˉu1(t),u2=u1(t)ˉu2(t),u3=u2(t)ˉu1(t). (5.2)

    The linear system of system (5.1) near F(u1,u2,u2) can be described as:

    {dˉu1dt=m1ˉu1+m2ˉu2m3ˉu2(tθ)+m4ˉu3(tθ),dˉu2dt=m5ˉu1+m6ˉu2m7ˉu3m8ˉu2(tθ),dˉu2dt=m9ˉu2+m10ˉu3m11ˉu3(tθ), (5.3)

    where

    {m1=γ1+ϖ1u22du1(1+ϖ2u2)a1u2(1+ϖ3u3)(m+u1)(1u1m+u1),m2=a1u1(1+ϖ3u3)(m+u1),m3=γϖ1u1(1+ϖ1u2)2,m4=a1ϖ3u1u2(1+ϖ3u3)2(m+u1),m5=ρ1[ˉλ1a1u2(1+ϖ3u3)(m+u1)(1u1m+u1)],m6=ρ1[ˉλ1a1u1(1+ϖ3u3)(m+u1)ξ12ξ2(1+ϖ4u2u3)a2u3],m7=ρ1[ξ2ϖ4u22+a2u2]+ρ2,m8=ρ1[ˉλ1a1ϖ3u1u2(1+ϖ3u3)2(m+u1)]+ρ2,m9=ˉλ2a2u3,m10=β1+β0u3+λ2a2u2ξ3,m11=ββ0u3(1+β0u3)2. (5.4)

    The characteristic equation of system (5.3) owns the following expression:

    det[λm1m2+m3eλθm4eλθm5λm6m7+m8eλθ0m9λm10+m12eλθ]=0, (5.5)

    which leads to

    λ3+r1λ2+r2λ+r3+(r4λ2+r5λ+r6)eλθ+r7e2λθ=0, (5.6)

    where

    {r1=m11m7m1,r2=m7m11+m8m10+m1m11+m1m7m2m6,r3=m2m6m11m1m7m11m1m8m10m4m4m10,r4=m12,r5=m9m10+m3m6m1m12m7m12,r6=m1m7m12m1m9m10m2m6m10m3m6m11m5m6m10,r7=m3m6m12. (5.7)

    If θ=0, then Eq (5.6) becomes

    λ3+(r1+r4)λ2+(r2+r5)λ+r3+r6+r7=0. (5.8)

    Thus, all roots of Eq (5.8) have negative real parts if and only if

    (Q7){1=r1+r4>0,2=det[r1+r41r3+r6+r7r2+r5]>0,3=(r3+r6+r7)2>0. (5.9)

    is fulfilled, then the three roots λ1λ3 of Eq (5.8) have negative real parts. Thus the equilibrium point F(u1,u2,u3) of system (5.1) with θ=0 is locally asymptotically stable.

    Assume that λ=iντ is the root of Eq (5.8), then Eq (5.6) becomes:

    ((iντ)3+r1(iντ)2+r2iντ+r3)eiντθ+r4(iντ)2+r5iντ+r6+r7eiντθ=0, (5.10)

    It follows from Eq (5.10) that

    {Φ1(ντ)sinντθ+Φ2(ντ)cosνθ=Φ3(ντ),Φ4(ντ)sinντθ+Φ5cosντθ=Φ6(ντ), (5.11)

    where

    {Φ1=ντ3r2ντ,Φ2=r1ντ2+p1,Φ3=r4nuτ2r6,Φ4=r1ντ2+p2,Φ5=ντ3+r2ντ,Φ5=r5ντ, (5.12)

    and

    {p1=r3+r7,p2=r3r7. (5.13)

    So there is

    {sinντθ=Φ2Φ6Φ3Φ5Φ2Φ4Φ1Φ5,cosντθ=Φ3Φ4Φ1Φ6Φ2Φ4Φ1Φ5. (5.14)

    In view of cos2ντθ+sin2ντθ=1, it follows from (5.14) that

    [Φ2(ντ)Φ4(ντ)Φ3(ντ)Φ5(ντ)]2+[Φ3(ντ)Φ4(ντ)Φ1(ντ)Φ6(ντ)]2=[Φ2(ντ)Φ4(ντ)Φ1(ντ)Φ5(ντ)]2, (5.15)

    therefore, results can be obtained as follows:

    ντ12R1ντ10R2ντ8R3ντ6R4ντ4R5ντ2R6=0, (5.16)

    where

    {R1=r24+4r22r21,R2=r25+r21r24+2r1(p1+p2+2r1r4)r416r222r2r242r4r5,R3=r21r25+r22r24+r26+4r32+4r2r4r6+2r5r5p2+(p1+p2)(2r314r1r2)2r21r222r1r24p22r21r4r62r2r252r4r5p1,R4=r22r24+r21r25+r23p22+2r2r3r4(1p2)+2r4r5(p1p2)+4p1p2(r2r21)+4r1r3r25p2r21(p21+p22)r422r2r5(r2r3+r5)2r1r24p1,R5=r22r25+r24p21+2r1(p1p22+p21p2)+2r2r4r5(p2p1)2r1r25p22r22p1p22r3r5p22,R6=r25p22p21p22. (5.17)

    Let

    Υ3(ντ)=ντ12R1ντ10R2ντ8R3ντ6R4ντ4+R5ντ2R6. (5.18)

    Assume that

    (Q8)|r5|>|p1|.

    If (Q8) holds, then Υ3(0)=R6<0, since limντΥ2(ντ)>0, then we know that Eq (5.16) has at least one positive real root. Therefore, Eq (5.6) has at least one pair of pure roots. Without loss of generality, we can assume that Eq (5.16) has twelve positive real roots (say ντj,j=1,2,3,,12). Relying on (5.14), we know

    θ(w)j=1ντj[arccos(Φ2(νj)Φ6(ντj)Φ3(ντj)Φ5(ντj)Φ2(ντj)(Φ4(ντj)Φ1(ντj)Φ5(ντj)+2wπ)], (5.19)

    where j=1,2,3,,12;w=0,1,2,. Assume θ=min{j=1,2,3,,12;w=0,1,2,}{θ(w)j} and suppose that when θ=θ, Eq (5.6) has a pair of imaginary roots ±iντ0.

    Next, we present the following assumption:

    (Q9)Y1RY2R+Y1IY2I>0,

    where

    {Y1R=(r23ντ02)cosντ0θ2r1ντ0sinντ0θ+2r4+r5,Y1I=(r23ντ02)sinντ0θ+2r1ντ0cosντ0θ,Y2R=(r7ντ0+r3ντ0r1ντ03)sinντ0θ+(r2ντ20ντ04)cosντ0θ,Y2I=(r2ντ20ντ04)sinντ0θ+(r7ντ0+r1ντ03h3ντ0)cosντ0θ. (5.20)

    Lemma 5.1. Suppose that λ(θ)=υ1(θ)+iυ2(θ) is the root of Eq (4.6) at θ=θ such that υ1(θ)=0, υ2(θ)=ντ0, then Re(dλdθ)|θ=θ,ν=ντ0>0.

    Proof. It follows from Eq (5.6) that

    λ3+r1λ2+r2λ+r3+(r4λ2+r5λ+r6)eλθ+r7e2λθ=0, (5.21)

    we can get

    [(3λ2+2r1λ+r2)eλθ]dλdθ+(λ3+r1λ2+r2λ+r3)eλθ(dλdθθ+λ)+2r4dλdθ+r5dλdθr7eλθ(dλdθθ+λ)=0. (5.22)

    It means that

    (dλdθ)1=Y1(λ)Y2(λ)θλ, (5.23)

    where

    {Y1(λ)=(3λ2+r1λ+r2)eλθ+2r4+r5,Y2(λ)=r7λeλθ(λ3+r1λ2+r2λ+r3)λeλθ. (5.24)

    Hence

    Re[(dλdθ)1]θ=θ,ν=ντ0=Re[Y1(λ)Y2(λ)]θ=θ,ν=ντ0=Y1RY2R+Y1IY2IY22R+Y22I. (5.25)

    By the assumption (Q9), we get

    Re[(dλdθ)1]θ=θ,ν=ν0>0, (5.26)

    which ends the proof. According to the above discussion, the following outcome is easily derived.

    Theorem 5.1. Suppose that (Q7)(Q9) hold, then the equilibrium point F(u1,u2,u3) of model (5.1) is locally asymptotically stable if θ[0,θ), and model (5.1) generates a cluster of Hopf bifurcations around the equilibrium point F(u1,u2,u3) when θ=θ.

    In this segment, we will investigate the Hopf bifurcation issue of system (1.2) using a reasonable hybrid controller that encompasses parameter perturbation with delay and state feedback. In accordance with the notion in [15], we construct the controlled predator-prey model as follows:

    {du1dt=δ1[11+ϖ1u2(tθ)γu1(t)d(1+ϖ2u2(t))u21(t)11+ϖ3u3(tθ)a1u1(t)u2(t)m+u1(t)]+δ2[u1(t)u1(tθ)],du2dt=δ3[11+ϖ3u3(tθ)ˉλ1a1u1(t)u2(t)m+u1(t)ξ1u2(t)ξ2(1+ϖ4u3(t))u22(t)a2u2(t)u3(t)]+δ4[u2(t)u2(tθ)],du3dt=δ5[βu3(t)1+β0u3(tθ)+ˉλ2a2u2(t)u3(t)ξ3u3(t)]+δ6[u3(t)u3(tθ)], (6.1)

    where δ1δ6 represent control parameters. System (6.1) shares the same equilibrium point as that in system (1.2). Let

    {u1=u1(t)ˉu1(t),u2=u1(t)ˉu2(t),u3=u2(t)ˉu1(t). (6.2)

    The linear system of system (1.3) near E(u1,u2,u3) can be demonstrated as below:

    {dˉu1dt=n1ˉu1+n2ˉu1(tθ)+n3ˉu2n4ˉu2(tθ)+n5ˉu3(tθ),dˉu2dt=n6ˉu1+n7ˉu2n8ˉu2(tθ)n9ˉu3n10(tθ),dˉu2dt=n11ˉu2+n12ˉu3n13ˉu3(tθ), (6.3)

    where

    {n1=(δ1(γ1+ϖ1u22du1(1+ϖ2u2)a1u2(1+ϖ3u3)(m+u1)(1u1m+u1)+δ2),n2=δ2,n3=δ1a1u1(1+ϖ3u3)(m+u1),n4=δ1γϖ1u1(1+ϖ1u2)2,n5=δ1a1ϖ3u1u21+ϖ3u23,n6=δ3[ˉλ1a1u2(1+ϖ3u3)(m+u1)(1u1m+u1)],n7=δ3[ˉλ1a1u1(1+ϖ3u3)(m+u1)ξ12ξ2(1+ϖ4u2u3)a2u3]+δ4,n8=δ4,n9=δ3(ξ2ϖ4u22+a2u2),n10=δ3ˉλ1a1ϖ3u1u2(1+ϖ3u3)2(m+u1),n11=δ5ˉλ2a2u3,n12=δ5(β1+β0u3+λ2a2u2ξ3)+δ6,n13=δ5ββ0u3(1+β0u3)2+δ6. (6.4)

    The characteristic equation of system (6.3) takes the following form:

    det[λn1+n2eλθn3+n4eλθn5eλθn6λn7+n8eλθn9+n10eλθ0n11λn12+n13eλθ]=0, (6.5)

    which leads to:

    λ3+s1λ2+s2λ+s3+(s4λ2+s5λ+s6)eλθ+(s7λ+s8)e2λθ+s9e3λθ=0, (6.6)

    where

    {s1=n12n7n1,s2=n7n12+n9n11+n1n12+n1n7n3k6,s3=n3n6n12n1n7n12n1n9n11,s4=n13+n8+n2,s5=n10n11+n4n6n7n10n8n12n1n13n1n8n2n12n2n7,s6=n1n7n13+n1n8n12+n2n7n12+n2n9n11n3n6n13n5n6n11n1n10n11,s7=n8n13+n2n13+n2n8,s8=n2n10n11n1n8n13n2n7n13n2n8n12n4n6n12n4n6n13. (6.7)

    If θ=0, then Eq (6.6) becomes

    λ3+(s1+s4)λ2+(s2+s5+s7)λ+s3+s6+s8+s9=0. (6.8)

    Hence, the necessary and sufficient condition for all roots of Eq (6.8) to have negative real parts is

    (Q10){Δ1=s1+s4>0,Δ2=det[s1+s41s3+s6+s8+s9s2+s5+s7]>0.Δ3=(s3+s6+s8+s9)Δ2>0. (6.9)

    Then, three roots λ1λ3 of Eq (6.8) that have negative real parts. As a result, the equilibrium point F(u1,u2,u3) of system (1.2) with θ=0 is locally asymptotically stable.

    It is assumed that λ=iνμ is the root of Eq (6.6) and one obtains

    (λ3+s1λ2+s2λ+s3)e2λθ+(s4λ2+s5λ+s6)eλθ+s9eλθ+s8=0. (6.10)

    Next, referring to Eq (6.10), we obtain

    [(iνμ)3+s1(iνμ)2+s2iνμ+s3](cos2νμθ+isin2νμθ)+(s4(iνμ)2+s5iνμ+s6)(cosνμθ+isinνμθ)+s9(cosνμθisinνμθ)+s7iνμ+s8=0. (6.11)

    From Eq (6.11), we are able to derive

    {(νμ3s2νμ)sin2νμθ+(s3s1νμ2)cos2νμθs5νμsinνμθ+(s6+s9s4)νμ2cosνμθ=s8,(s2νμνμ3)cos2νμθ+(s3s1νμ2)sin2νμθ+s5νμcosνμθ+(s6s9s4νμ2)sinνμθ=s7νμ. (6.12)

    Owing to sin2νμθ=±1cos2νμθ, Eq (6.12) can be modified to

    [(νμ3s2νμ)2(±1cos2νμθ)cosνμθ)+(s3s1νμ2)(2cos2νμθ1)]r5νμ(±1cos2νμθ)+(r6+r9r4νμ2)cosνμθ+s8=0. (6.13)

    Thus, the results can be summarized as

    N1cos2νμθ+N2cosνμθ+N3=(N4+N5cosνμθ)±1cos2νμθ, (6.14)

    where

    {N1=2s32s1νμ2,N2=s6+h9s4νμ2,N3=r1νμ2+r8r3,N4=r5νμ,N5=2(r2νμνμ3). (6.15)

    Square each side of Eq (6.14) to achieve the result presented below.

    T1cos4νμθ+T2cos3νμθ+T3cos2νμθ+T4cosνμθ+T5=0, (6.16)

    where

    {T1=N21+N55,T2=2(N1N2+N4N5),T3=2N1N3+N22+N24N25,T4=2(N2N3N4N5),T5=N25N24. (6.17)

    Based on Eq (6.16), we can obtain the representation as presented below for cosνμ. Suppose that

    cosνμθ=f1(νμ), (6.18)

    where f1(νμ) is a function that varies with νμ. We can derive the expression for sinνμ. Assume that

    sinνμθ=f2(νμ), (6.19)

    where f2(νμ) denotes a function with respect to νμ. Referring to Eqs (6.18) and (6.19), we can determine

    f21(νμ)+f22(νμ)=1. (6.20)

    By using a computer, we can obtain the roots of Eq (6.20). We denote the root of (6.20) as νμ, then

    θ(n)=1νμ[arccos(1f1(νμ)+2nπ)], (6.21)

    where j=1,2,;n=0,1,2,.

    Let θ=min{n=1,2,}{θ(n)} and suppose that when θ=θ, Eq (6.8) possesses a pair of imaginary roots ±iνμ0.

    As the next step, we put forward the following assumption:

    (Q11)ˉY1RˉY2R+ˉY1IˉY2I>0,

    where

    {ˉY1R=(s23νμ02)cos2νμ0θ02s1νμ0sin2νμ0θ0+(s52s4νμ02)cosνμ0θ02s4νμ02sinνμ0θ0,ˉY1I=(s23νμ02)sin2νμ0θ0+2s1νμ0cos2νμ0θ0+s5sinνμ0θ0,ˉY2R=(2νμ02(s2νμ02))cos2νμ0θ0+(2s3νμ02s1νμ03)sin2νμ0θ0+(νμ0+s6νμ0+s5νμ02θ0+s4νμ03θ0)sinνμ0θ0,ˉY2I=(2νμ02(s2νμ02))sin2νμ0θ0+(2s1νμ032s3νμ0)cos2νμ0θ0+(νμ0s6νμ0s5νμ02θ0s4νμ03θ0)sinνμ0θ0. (6.22)

    Lemma 6.1. Suppose that λ(θ)=ˉυ1(θ)+iˉυ2(θ) is the root of Eq (6.6) at θ=θ0 such that ˉυ1(θ0)=0, ˉυ2(θ0)=νμ0, then Re(dλdθ)|θ=θ0,ν=νμ0>0.

    Proof. As derived from Eq (6.6), it follows that

    λ3+s1λ2+s2λ+s3+(s4λ2+s5λ+s6)eλθ+(s7λ+s8)e2λθ+s9e3λθ=0, (6.23)

    we can get

    (3λ2+2s1λ+s2)e2λθdλdθ+(λ3+s1λ2+s2λ+s3)2e2λθ(λ+θdλdθ)+(2s4λ+s5)eλθdλdθ+(s4λ2+s5λ+s6)eλθ(λ+θdλdθ)+s7dλdθeλθ(λ+θdλdθ)=0, (6.24)

    which signifies

    (dλdθ)1=ˉY1(λ)ˉY2(λ)θλ, (6.25)

    where

    {ˉY1(λ)=(3λ2+2s1λ+s2)e2λθ+(2s4λ+s5)eλθ+s7,ˉY1(λ)=λeλθ2(λ3+s1λ2+s2λ+s3)λe2λθ(s4λ2+s5λ+s6)λeλθ. (6.26)

    Hence

    Re[(dλdθ)1]θ=θ0,ν=νμ0=Re[ˉY1(λ)ˉY2(λ)]θ=θ0,ν=νμ0=ˉY1RˉY2R+ˉY1IˉY2IˉY22R+ˉY22I. (6.27)

    Under the assumption (Q11), we derive

    Re[(dλdθ)1]θ=θ0,ν=νμ0>0, (6.28)

    which wraps up the proof. Following the preceding analysis, the subsequent result is straightforwardly reached.

    Theorem 6.1. Assuming that conditions (Q10) and (Q11) hold, then the equilibrium point F(u1,u2,u3) of model (6.1) is locally asymptotically stable state for θ[0,θ0). Additionally, when θ=θ0, model (6.1) exhibits a cluster of Hopf bifurcations around the equilibrium point F(u1,u2,u3).

    Remark 6.1. Pal et al.[8] revealed the complex impact of fear-induced responses on the stability and behavior of multi-species food web systems. In this article, we develop a more realistic delayed predator-prey system model and investigate the bifurcation behavior and hybrid controller design based on this model. On a theoretical level, these research methods enhance the understanding of bifurcation theory for delayed differential equations. From a biological perspective, the findings of this study are significant for managing the densities of predator and prey populations. Consequently, we believe that this paper has a certain innovation to some degree.

    Remark 6.2. Based on the existing literature methods and according to the biological implication of this predator-prey model, we can add the parameter perturbation with delay and state feedback artificially to adjust the densities of prey, intermediate predators, and top predators and achieve our control objectives. Thus, these control techniques have practical significance in biology.

    Remark 6.3. Although the form of hybrid controller I and hybrid controller II are same, we add this controller to the third equation of model (1.2) and to the second equation of model (1.2), respectively. Then, we obtain two different delay critical valus to generate Hopf bifurcation. In order to illustrate the different control techniques, we give three different controllers in this paper. We apply these controllers to achieve the control of stability domain and Hopf bifurcation.

    Remark 6.4. Based on the biological implication, we introduce one delay into model (1). Even though there is only one difference to model (1), the introduction of delay will lead to a great change to the model. In this paper, the Hopf bifurcation and its control issue are our research topic. By exploring the delay-induced Hopf bifurcation of this predator-prey, we can effectively control the balance among the densities of prey, intermediate predators, and top predators.

    Remark 6.5. In this paper, we mainly show the effect of delay on the stability domain and the time of onset of Hopf bifurcation of model (1.2). For different controllers, we can choose different control parameter values to achieve our control objectives. For this problem, we can continue the discussion in the near future.

    Remark 6.6. For example, corresponding to the predator-prey model (1.2), we can assume that u1(t) stands for the density of mice, u2(t) stands for the density of bobcats, and u3(t) represent the density of wolves. For controller I, we can adjust the value of per capita regeneration rate (β), the proportional constant between the growth rate of wolves and the response of the function (ˉλ2), and the natural mortality of wolves (ξ3) (for (β,ˉλ2,ξ3, the same multiple is enlarged) and add the small perturbation to change the density of wolves to obtain control. The small perturbation is also a function of time t, and the density of wolves will also change with delayed feedback term. Then we can obtain the control model (4.1) from model (1.2). Based on this viewpoint, we think that this designed controller is suitable. By choosing the suitable control parameters, we can effectively adjust the time of Hopf bifurcation onset to ensure the balance of biological populations (mice, bobcats, and wolves). Based on this viewpoint, we think that this control design has important biological significance. For other controllers, we can explain them in a similar way.

    Remark 6.7. In the three controlled predator-prey models (4.1), (5.1), and (6.1), we use three different hybrid controllers that contain parameter perturbation with delay and state feedback, and then we obtain three controlled predator-prey models. For controlled model (4.1), we add this hybrid controller to the third equation of model (1.2) in order to change the density of top predators and then adjust the stability domain and onset of Hopf bifurcation of system (1.2). For the controlled model (5.1), we add this hybrid controller to the second equation of model (1.2) in order to change the density of intermediate predators, and then adjust the stability domain and onset of Hopf bifurcation of system (1.2). For the controlled model (6.1), we add this hybrid controller to the three equations of model (1.2) in order to change the densities of preys, intermediate predators, and top predators, and then adjust the stability domain and onset of Hopf bifurcation of system (1.2). In actual biological systems, this is possible (see Remark 6.6). To evaluate whether these controllers are reasonable in the actual system and whether they are practical or not, we will carry out theoretical analysis via the stability and Hopf bifurcation theory and computer simulations. It is not feasible to add controllers at will.

    Remark 6.8. For three different controllers, the conclusions of three controlled systems (4.1), (5.1) and (6.1) are different since the delay critical values δ,θ0,θ0 are different under different parameter conditions. When implementing control in ecosystems, we can control the growth rate and mortality rate of predators via killing predators to add the mortality rate of predators and foster predators to increase their growth rate artificially.

    In this section, we will use Matlab 2021 software to carry out numerical simulation.

    Example 7.1. Take into account the predator-prey model, which contains a delay:

    {du1dt=11+ϖ1u2(tθ)γu1(t)d(1+ϖ2u2(t))u21(t)11+ϖ3u3(tθ)a1u1(t)u2(t)m+u1(t),du2dt=11+ϖ3u3(tθ)λ1a1u1(t)u2(t)m+u1(t)ξ1u2(t)ξ2(1+ϖ4u3(t))u22(t)a2u2(t)u3(t),du3dt=βu3(t)1+β0u3(tθ)+λ2a2u2(t)u3(t)ξ3u3(t), (7.1)

    where γ=2,d=0.3,m=3,ϖ1=0.5,ϖ2=0.5,ϖ3=0.1,ϖ4=0.5,a1=12,a2=1,λ1=0.7,λ2=0.3,ξ1=0.1,ξ2=0.03,ξ3=0.3,β0=2,β1=1. Obviously, model (7.1) possesses a unique positive equilibrium point F(2.0589,0.4597,2.5849). It is simple to demonstrate that the conditions (Q1)(Q3) of Theorem 3.1 are satisfied. With the help of computational software, one can obtain that θ05.1. To assess the correctness of the results derived from Theorem 3.1, we pick two unequal delay values. One is θ=4.8 and the other is θ=5.3. If θ=4.8<θ05.1, we derive the computer simulation diagrams depicted in Figure 1. As depicted in Figure 1, it is clear that u12.0589,u20.4597,u32.5849 when t+. In other words, the unique positive equilibrium point F(2.0589,0.4597,2.5849) of model (7.1) sustains a locally asymptotically stable status. As θ=5.3>θ05.1, we acquire the computer simulation diagrams illustrated in Figure 2. As depicted in Figure 2, we can see that u1 is going to maintain periodic quavering level around the value 2.0589, u2 is about to keep periodic quavering level around the value 0.4597, and u3 will hold periodic quavering level around the value 2.5849. In other words, a set of periodic solutions (namely, Hopf bifurcations) arise in the vicinity of the positive equilibrium point F(2.0589,0.4597,2.5849).

    Figure 1.  Matlab simulation figures of system (7.1) under the delay θ=4.8<θ0=5.1. The equilibrium point F(u1,u2,u3)=F(2.0589,0.4597,2.5849) holds a locally asymptotically stable level.
    Figure 2.  Matlab simulation figures of system (6.1) under the delay θ=5.3>θ0=5.1. A set of periodic solutions (namely, Hopf bifurcations) arise in the vicinity of the positive equilibrium point F(u1,u2,u3)=F(2.0589,0.4597,2.5849).

    Example 7.2. Take into account the following controlled predator-prey model:

    {du1dt=11+ϖ1u2(tθ)γu1(t)d(1+ϖ2u2(t))u21(t)11+ϖ3u3(tθ)a1u1(t)u2(t)m+u1(t),du2dt=11+ϖ3u3(tθ)λ1a1u1(t)u2(t)m+u1(t)ξ1u2(t)ξ2(1+ϖ4u3(t))u22(t)a2u2(t)u3(t),du3dt=η1[βu3(t)1+β0u3(tθ)+λ2a2u2(t)u3(t)ξ3u3(t)]+η2[u3(t)u3(tθ)], (7.2)

    where γ=2,d=0.3,m=3,ϖ1=0.5,ϖ2=0.5,ϖ3=0.1,ϖ4=0.5,a1=12,a2=1,λ1=0.7,λ2=0.3,ξ1=0.1,ξ2=0.03,ξ3=0.3,β0=2, and β1=1. Let η1=0.4 and η2=0.5. Obviously, model (7.2) possesses a unique positive equilibrium point F(2.0589,0.4597,2.5849). It is simple to demonstrate that the conditions (Q4)(Q6) of Theorem 3.2 are satisfied. With the help of computational software, one can acquire that δ0.9. To assess the correctness of the results derived from Theorem 3.2, we pick two unequal delay values. One is θ=0.8 and the other is θ=1.10. If δ=0.8<δ0.9, we derive the computer simulation diagrams depicted in Figure 3. As depicted in Figure 3, it is clear that u12.0589,u20.4597,u32.5849 when t+. In other words, the unique positive equilibrium point F(2.0589,0.4597,2.5849) of model (7.2) sustains a locally asymptotically stable status. As θ=5.3>θ05.1, we acquire the computer simulation diagrams illustrated in Figure 4. As depicted in Figure 4, we can see that u1 is going to maintain a periodic quavering level around the value 2.0589, u2 will keep a periodic quavering level around the value 0.4597, and u3 will hold a periodic quavering level around the value 2.5849. In other words, a set of periodic solutions (namely, Hopf bifurcations) arise in the vicinity of the positive equilibrium point F(2.0589,0.4597,2.5849).

    Figure 3.  Matlab simulation figures of system (7.2) under the delay θ=0.8<θ=0.9. The equilibrium point F(u1,u2,u3)=F(2.0589,0.4597,2.5849) holds a locally asymptotically stable level.
    Figure 4.  Matlab simulation figures of system (7.2) under the delay θ=1.1>θ=0.9. A set of periodic solutions (namely, Hopf bifurcations) arise in the vicinity of the positive equilibrium point F(u1,u2,u3)=F(2.0589,0.4597,2.5849).

    Example 7.3. Take into account the following controlled predator-prey model:

    {du1dt=11+ϖ1u2(tθ)γu1(t)d(1+ϖ2u2(t))u21(t)11+ϖ3u3(tθ)a1u1(t)u2(t)m+u1(t),du2dt=ς1[11+ϖ3u3(tθ)λ1a1u1(t)u2(t)m+u1(t)ξ1u2(t)ξ2(1+ϖ4u3(t))u22(t)a2u2(t)u3(t)]+ς2[u2(t)u2(tθ)],du3dt=βu3(t)1+β0u3(tθ)+λ2a2u2(t)u3(t)ξ3u3(t), (7.3)

    where γ=2,d=0.3,m=3,ϖ1=0.5,ϖ2=0.5,ϖ3=0.1,ϖ4=0.5,a1=12,a2=1,λ1=0.7,λ2=0.3,ξ1=0.1,ξ2=0.03,ξ3=0.3,β0=2, and β1=1. Let ς1=0.4 and ς2=0.5. Obviously, model (7.3) possesses a unique positive equilibrium point F(2.0589,0.4597,2.5849). It is simple to demonstrate that the conditions (Q7)(Q9) of Theorem 5.1 are satisfied. With the help of computational software, one can acquire that θ03.3. To assess the correctness of the results derived from Theorem 5.1, we pick two unequal delay values. One is θ=3.1 and the other is θ=3.8. If θ=3.1<θ03.3, we derive the computer simulation diagrams depicted in Figure 5. As depicted in Figure 5, it is clear that u12.0589,u20.4597,u32.5849 when t+. In other words, the unique positive equilibrium point F(2.0589,0.4597,2.5849) of model (7.3) sustains a locally asymptotically stable status. As θ=3.8>θ03.3, we acquire the computer simulation diagrams illustrated in Figure 6. As depicted in Figure 5, we can see that u1 will maintain a periodic quavering level around the value 2.0589, u2 will keep a periodic quavering level around the value 0.4597, and u3 will hold a periodic quavering level around the value 2.5849. In other words, a set of periodic solutions (namely, Hopf bifurcations) arise in the vicinity of the positive equilibrium point F(2.0589,0.4597,2.5849).

    Figure 5.  Matlab simulation figures of system (7.3) under the delay θ=3.1<θ0=3.3. The equilibrium point F(u1,u2,u3)=F(2.0589,0.4597,2.5849) holds a locally asymptotically stable level.
    Figure 6.  Matlab simulation figures of system (7.3) under the delay θ=3.8>θ0=3.3. A set of periodic solutions (namely, Hopf bifurcations) arise in the vicinity of the positive equilibrium point F(u1,u2,u3)=F(2.0589,0.4597,2.5849).

    Example 7.4. Take into account the predator-prey model, which contains a delay:

    {du1dt=δ1[11+ϖ1u2(tθ)γu1(t)d(1+ϖ2u2(t))u21(t)11+ϖ3u3(tθ)a1u1(t)u2(t)m+u1(t)]+δ2[u1(t)u1(tθ)],du2dt=δ3[11+ϖ3u3(tθ)λ1a1u1(t)u2(t)m+u1(t)ξ1u2(t)ξ2(1+ϖ4u3(t))u22(t)a2u2(t)u3(t)]+δ4[u2(t)u2(tθ)],du3dt=δ5[βu3(t)1+β0u3(tθ)+λ2a2u2(t)u3(t)ξ3u3(t)]+δ6[u3(t)u3(tθ)], (7.4)

    where γ=2,d=0.3,m=3,ϖ1=0.5,ϖ2=0.5,ϖ3=0.1,ϖ4=0.5,a1=12,a2=1,λ1=0.7,λ2=0.3,ξ1=0.1,ξ2=0.03,ξ3=0.3,β0=2, and β1=1. Let δ1=0.6,δ2=0.0.3,δ3=0.3,δ4=0.3,δ5=0.4, and δ6=0.5. Obviously, model (7.4) possesses a unique positive equilibrium point E(2.0589,0.4597,2.5849). It is simple to demonstrate that the conditions (Q10) and (Q11) of Theorem 6.1 are satisfied. With the help of computational software, one can obtain that θ01.450. To assess the correctness of the results derived from Theorem 6.1, we pick two unequal delay values. One is θ=1.4 and the other is θ=1.510. If θ=1.40<θ01.450, we derive the computer simulation diagrams depicted in Figure 7. As depicted in Figure 7, it is clear that u12.0589,u20.4597,u32.5849 when t+. In other words, the unique positive equilibrium point F(2.0589,0.4597,2.5849) of model (7.4) sustains a locally asymptotically stable status. As θ=1.510>θ01.450, we obtain the computer simulation diagrams illustrated in Figure 8. As depicted in Figure 8, we can see that u1 will maintain a periodic quavering level around the value 2.0589, u2 will keep a periodic quavering level around the value 0.4597, and u3 will hold a periodic quavering level around the value 2.5849. In other words, a set of periodic solutions (namely, Hopf bifurcations) arise in the vicinity of the positive equilibrium point F(2.0589,0.4597,2.5849).

    Figure 7.  Matlab simulation figures of system (7.4) under the delay θ=1.40<θ0=1.450 The equilibrium point F(u1,u2)=F(2.0589,0.4597,2.5849) holds a locally asymptotically stable level.
    Figure 8.  Matlab simulation figures of system (7.4) under the delay θ=1.510>θ0=1.450. A set of periodic solutions (namely, Hopf bifurcations) arise in the vicinity of the positive equilibrium point F(u1,u2,u3)=F(2.0589,0.4597,2.5849).

    Remark 7.1. On the basis of the computer simulation graphics in Examples 7.1 and 7.2, one can clearly observe that the bifurcation values of models (7.1) and (7.2) are θ05.1 and θ0.9, which indicates that we can diminish the stability region and cut down the time to bifurcation in model (7.1) by implementing the formulated hybrid controller. On the basis of the computer simulation graphics in Examples 7.3 and 7.4, one can readily observe that the bifurcation values of models (7.3) and (7.4) are θ1.45, θ03.3, which indicates that we can enhance the stability region and prolong the time of bifurcation onset in model (7.1) by implementing the formulated hybrid controller.

    Remark 7.2. Compared with the work of Zhao et al. [16], although the controller design in this paper is similar, since different controllers are added to different equations, then achieved control effects are different. For example, in [16], the stability domain is enlarged and the onset of Hopf bifurcation is postponed; in this paper, the stability domain is narrowed and the onset of Hopf bifurcation is advanced. In addition, the controller design in the Section 6 of this paper is also different from that in [16]. Also, the exploration methods on the boundedness of the solution in this paper are different from that in [16]. Based on this viewpoint, we think that this paper presents some novelties.

    For a long time, predator-prey models have played an important role in biology and attracted great interest from both mathematical and biological fields. From a mathematical standpoint, how to reveal the effect of time delay on the dynamics of predator-prey models is a vital theme. This paper introduces a new delayed predator-prey model and provides a detailed analysis on its peculiarities, including the non-negativity, existence, uniqueness, and boundedness of the solutions, as well as the Hopf bifurcation issue. We derive the sufficient conditions on the stability and bifurcation of the model. By applying various mixed delay feedback controllers, we have successfully adjusted the stability region and the time of bifurcation onset of this model. The findings of this study hold significant theoretical value in balancing the concentrations of predators and preys. Moreover, this research approach can also be applied to explore bifurcation control issues in other complex differential models. Recently, several works have focused on the stability and Hopf bifurcation control of fractional-order dynamical models. We also plan to explore Hopf bifurcation in a fractional-order version of this model in the near future.

    Jinting Lin: Conceptualization, formal analysis, investigation, methodology, software, writing original draft, writing-review & editing; Changjin Xu: Conceptualization, formal analysis, investigation, methodology, software, writing-original draft, writing-review & editing; Yiya Xu: Formal analysis, investigation, software, writing-review & editing; Yingyan Zhao: Conceptualization, formal analysis, investigation, methodology, writing-original draft, writing-review & editing; Yicheng Pang: Conceptualization, investigation, methodology, writing-review & editing; Zixin Liu: Conceptualization, investigation, methodology, writing-review & editing; Jianwei Shen: Conceptualization, investigation, methodology, writing-review & editing. All authors have read and approved the final version of the manuscript for publication.

    This work is supported by National Natural Science Foundation of China (No.12261015) and Innovative Exploration and New Academic talent Project of Guizhou University of Finance and Economics (No.2024XSXMA03).

    The authors would like to thank the referees and the editor for helpful suggestions incorporated into this paper.

    The authors declare no conflict of interest.



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