Global synchronization of complex dynamical networks with non-identical nodes

This paper addresses the problem of synchronization for complex dynamical networks with non-identical nodes. Neither an equilibrium for each node nor a synchronization manifold is assumed to exist. A criterion of global synchronization in the sense of boundedness of the maximum state deviation between nodes is proposed by introducing the average dynamics of all nodes. An explicit bound of the maximum state deviation between nodes is obtained by the maximum difference between each node dynamics and the average dynamics. The proposed criterion is an extension of the related synchronization criteria for the case of identical nodes to the case of non-identical nodes.