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6 3 = -(1/0.31)e4 + (40/0.31)u (23) e4 = (1/0.33)e3 (24) Again, U = -& k,e, represents a state feedback. The diagram of the synchronisation scheme is given in Fig. 3 , where the black boxes with I, = -4o(s(x) -s(y)) and I, = (40/0.3l)(s(x) -s(y)) represent the coupling between the oscillators. Since the controllability matrix  of the system of eqns. 21 -24 is full rank, the eigenvalues can be placed, for instance, in -1 for k, = -0.0109, k2 = 0.0178, k3 = 0.0319, k4 = 4.0046, synchronisingdoi:10.1049/el:19980350 fatcat:exi7ig23s5ddnbqzla7tjbc3qa