A data-driven phase and isostable reduced modeling framework for oscillatory dynamical systems

Enhancing spectral analysis in nonlinear dynamics with pseudoeigenfunctions from continuous spectra

The analysis of complex behavior in empirical data poses significant challenges in various scientific and engineering disciplines. Dynamic Mode Decomposition (DMD) is a widely used method to reveal the spectral features of nonlinear dynamical systems without prior knowledge. However, because of its infinite dimensions, analyzing the continuous spectrum resulting from chaos and noise is problematic. We propose a clustering-based method to analyze dynamics represented by pseudoeigenfunctions associated with continuous spectra. This paper describes data-driven algorithms for comparing pseudoeigenfunctions using subspaces. We used the recently proposed Residual Dynamic Mode Decomposition (ResDMD) to approximate spectral properties from the data. To validate the effectiveness of our method, we analyzed 1D signal data affected by thermal noise and 2D-time series of coupled chaotic systems exhibiting generalized synchronization. The results reveal dynamic patterns previously obscured by conventional DMD analyses and provide insights into coupled chaos's complexities.

Controlling fluidic oscillator flow dynamics by elastic structure vibration

In this study, we introduce a design of a feedback-type fluidic oscillator with elastic structures surrounding its feedback channel. By employing phase reduction theory, we extract the phase sensitivity function of the complex fluid-structure coupled system, which represents the system's oscillatory characteristics. We show that the frequency of the oscillating flow inside the fluidic oscillator can be modulated by inducing synchronization with the weak periodic forcing from the elastic structure vibration. This design approach adds controllability to the fluidic oscillator, where conventionally, the intrinsic oscillatory characteristics of such device were highly determined by its geometry. The synchronization-induced control also changes the physical characteristics of the oscillatory fluid flow, which can be beneficial for practical applications, such as promoting better fluid mixing without changing the overall geometry of the device. Furthermore, by analyzing the phase sensitivity function, we demonstrate how the use of phase reduction theory gives good estimation of the synchronization condition with minimal number of experiments, allowing for a more efficient control design process. Finally, we show how an optimal control signal can be designed to reach the fastest time to synchronization.

Estimating asymptotic phase and amplitude functions of limit-cycle oscillators from time series data

We propose a method for estimating the asymptotic phase and amplitude functions of limit-cycle oscillators using observed time series data without prior knowledge of their dynamical equations. The estimation is performed by polynomial regression and can be solved as a convex optimization problem. The validity of the proposed method is numerically illustrated by using two-dimensional limit-cycle oscillators as examples. As an application, we demonstrate data-driven fast entrainment with amplitude suppression using the optimal periodic input derived from the estimated phase and amplitude functions.

Data-driven identification of dynamical models using adaptive parameter sets

This paper presents two data-driven model identification techniques for dynamical systems with fixed point attractors. Both strategies implement adaptive parameter update rules to limit truncation errors in the inferred dynamical models. The first strategy can be considered an extension of the dynamic mode decomposition with control (DMDc) algorithm. The second strategy uses a reduced order isostable coordinate basis that captures the behavior of the slowest decaying modes of the Koopman operator. The accuracy and robustness of both model identification algorithms is considered in a simple model with dynamics near a Hopf bifurcation. A more complicated model for nonlinear convective flow past an obstacle is also considered. In these examples, the proposed strategies outperform a collection of other commonly used data-driven model identification algorithms including Koopman model predictive control, Galerkin projection, and DMDc.

Fast optimal entrainment of limit-cycle oscillators by strong periodic inputs via phase-amplitude reduction and Floquet theory

Optimal entrainment of limit-cycle oscillators by strong periodic inputs is studied on the basis of the phase-amplitude reduction and Floquet theory. Two methods for deriving the input waveforms that keep the system state close to the original limit cycle are proposed, which enable the use of strong inputs for entrainment. The first amplitude-feedback method uses feedback control to suppress deviations of the system state from the limit cycle, while the second amplitude-penalty method seeks an input waveform that does not excite large deviations from the limit cycle in the feedforward framework. Optimal entrainment of the van der Pol and Willamowski-Rössler oscillators with real or complex Floquet exponents is analyzed as examples. It is demonstrated that the proposed methods can achieve considerably faster entrainment and provide wider entrainment ranges than the conventional method that relies only on phase reduction.

Exploiting circadian memory to hasten recovery from circadian misalignment

Recent years have seen a sustained interest in the development of circadian reentrainment strategies to limit the deleterious effects of jet lag. Due to the dynamical complexity of many circadian models, phase-based model reduction techniques are often an imperative first step in the analysis. However, amplitude coordinates that capture lingering effects (i.e., memory) from past inputs are often neglected. In this work, we focus on these amplitude coordinates using an operational phase and an isostable coordinate framework in the context of the development of jet-lag amelioration strategies. By accounting for the influence of circadian memory, we identify a latent phase shift that can prime one's circadian cycle to reentrain more rapidly to an expected time-zone shift. A subsequent optimal control problem is proposed that balances the trade-off between control effort and the resulting latent phase shift. Data-driven model identification techniques for the inference of necessary reduced order, phase-amplitude-based models are considered in situations where the underlying model equations are unknown, and numerical results are illustrated in both a simple planar model and in a coupled population of circadian oscillators.

Data-driven phase-isostable reduction for optimal nonfeedback stabilization of cardiac alternans

Phase-isostable reduction is an emerging model reduction strategy that can be used to accurately replicate nonlinear behaviors in systems for which standard phase reduction techniques fail. In this work, we derive relationships between the cycle-to-cycle variance of the reduced isostable coordinates for systems subject to both additive white noise and periodic stimulation. Using this information, we propose a data-driven technique for inferring nonlinear terms of the phase-isostable coordinate reduction framework. We apply the proposed model inference strategy to the biologically motivated problem of eliminating cardiac alternans, an arrhythmia that is widely considered to be a precursor to more deadly cardiac arrhythmias. Using this strategy, by simply measuring a series of action potential durations in response to periodic stimulation, we are able to identify energy-optimal, nonfeedback control inputs to stabilize a period-1, alternans-free solution.

Data-driven inference of high-accuracy isostable-based dynamical models in response to external inputs

Isostable reduction is a powerful technique that can be used to characterize behaviors of nonlinear dynamical systems using a basis of slowly decaying eigenfunctions of the Koopman operator. When the underlying dynamical equations are known, previously developed numerical techniques allow for high-order accuracy computation of isostable reduced models. However, in situations where the dynamical equations are unknown, few general techniques are available that provide reliable estimates of the isostable reduced equations, especially in applications where large magnitude inputs are considered. In this work, a purely data-driven inference strategy yielding high-accuracy isostable reduced models is developed for dynamical systems with a fixed point attractor. By analyzing steady-state outputs of nonlinear systems in response to sinusoidal forcing, both isostable response functions and isostable-to-output relationships can be estimated to arbitrary accuracy in an expansion performed in the isostable coordinates. Detailed examples are considered for a population of synaptically coupled neurons and for the one-dimensional Burgers' equation. While linear estimates of the isostable response functions are sufficient to characterize the dynamical behavior when small magnitude inputs are considered, the high-accuracy reduced order model inference strategy proposed here is essential when considering large magnitude inputs.

Optimizing deep brain stimulation based on isostable amplitude in essential tremor patient models

OBJECTIVE

Deep brain stimulation is a treatment for medically refractory essential tremor. To improve the therapy, closed-loop approaches are designed to deliver stimulation according to the system's state, which is constantly monitored by recording a pathological signal associated with symptoms (e.g. brain signal or limb tremor). Since the space of possible closed-loop stimulation strategies is vast and cannot be fully explored experimentally, how to stimulate according to the state should be informed by modeling. A typical modeling goal is to design a stimulation strategy that aims to maximally reduce the Hilbert amplitude of the pathological signal in order to minimize symptoms. Isostables provide a notion of amplitude related to convergence time to the attractor, which can be beneficial in model-based control problems. However, how isostable and Hilbert amplitudes compare when optimizing the amplitude response to stimulation in models constrained by data is unknown.

APPROACH

We formulate a simple closed-loop stimulation strategy based on models previously fitted to phase-locked deep brain stimulation data from essential tremor patients. We compare the performance of this strategy in suppressing oscillatory power when based on Hilbert amplitude and when based on isostable amplitude. We also compare performance to phase-locked stimulation and open-loop high-frequency stimulation.

MAIN RESULTS

For our closed-loop phase space stimulation strategy, stimulation based on isostable amplitude is significantly more effective than stimulation based on Hilbert amplitude when amplitude field computation time is limited to minutes. Performance is similar when there are no constraints, however constraints on computation time are expected in clinical applications. Even when computation time is limited to minutes, closed-loop phase space stimulation based on isostable amplitude is advantageous compared to phase-locked stimulation, and is more efficient than high-frequency stimulation.

SIGNIFICANCE

Our results suggest a potential benefit to using isostable amplitude more broadly for model-based optimization of stimulation in neurological disorders.

Degenerate isostable reduction for fixed-point and limit-cycle attractors with defective linearizations

Isostable coordinates provide a convenient framework for understanding the transient behavior of dynamical systems with stable attractors. These isostable coordinates are often used to characterize the slowest decaying eigenfunctions of the Koopman operator; by neglecting the rapidly decaying Koopman eigenfunctions a reduced order model can be obtained. Existing work has focused primarily on nondegenerate isostable coordinates, that is, isostable coordinates that are associated with eigenvalues that have identical algebraic and geometric multiplicities. Current isostable reduction methods cannot be applied to characterize the decay associated with a defective eigenvalue. In this work, a degenerate isostable framework is proposed for use when eigenvalues are defective. These degenerate isostable coordinates are investigated in the context of various reduced order modeling frameworks that retain many of the important properties of standard (nondegenerate) isostable reduced modeling strategies. Reduced order modeling examples that require the use of degenerate isostable coordinates are presented with relevance to both circadian physiology and nonlinear fluid flows.

Analysis of input-induced oscillations using the isostable coordinate framework

Many reduced order modeling techniques for oscillatory dynamical systems are only applicable when the underlying system admits a stable periodic orbit in the absence of input. By contrast, very few reduction frameworks can be applied when the oscillations themselves are induced by coupling or other exogenous inputs. In this work, the behavior of such input-induced oscillations is considered. By leveraging the isostable coordinate framework, a high-accuracy reduced set of equations can be identified and used to predict coupling-induced bifurcations that precipitate stable oscillations. Subsequent analysis is performed to predict the steady state phase-locking relationships. Input-induced oscillations are considered for two classes of coupled dynamical systems. For the first, stable fixed points of systems with parameters near Hopf bifurcations are considered so that the salient dynamical features can be captured using an asymptotic expansion of the isostable coordinate dynamics. For the second, an adaptive phase-amplitude reduction framework is used to analyze input-induced oscillations that emerge in excitable systems. Examples with relevance to circadian and neural physiology are provided that highlight the utility of the proposed techniques.

Shape versus timing: linear responses of a limit cycle with hard boundaries under instantaneous and static perturbation

When dynamical systems that produce rhythmic behaviors operate within hard limits, they may exhibit limit cycles with sliding components, that is, closed isolated periodic orbits that make and break contact with a constraint surface. Examples include heel-ground interaction in locomotion, firing rate rectification in neural networks, and stick-slip oscillators. In many rhythmic systems, robustness against external perturbations involves response of both the shape and the timing of the limit cycle trajectory. The existing methods of infinitesimal phase response curve (iPRC) and variational analysis are well established for quantifying changes in timing and shape, respectively, for smooth systems. These tools have recently been extended to nonsmooth dynamics with transversal crossing boundaries. In this work, we further extend the iPRC method to nonsmooth systems with sliding components, which enables us to make predictions about the synchronization properties of weakly coupled stick-slip oscillators. We observe a new feature of the isochrons in a planar limit cycle with hard sliding boundaries: a nonsmooth kink in the asymptotic phase function, originating from the point at which the limit cycle smoothly departs the constraint surface, and propagating away from the hard boundary into the interior of the domain. Moreover, the classical variational analysis neglects timing information and is restricted to instantaneous perturbations. By defining the "infinitesimal shape response curve" (iSRC), we incorporate timing sensitivity of an oscillator to describe the shape response of this oscillator to parametric perturbations. In order to extract timing information, we also develop a "local timing response curve" (lTRC) that measures the timing sensitivity of a limit cycle within any given region. We demonstrate in a specific example that taking into account local timing sensitivity in a nonsmooth system greatly improves the accuracy of the iSRC over global timing analysis given by the iPRC.