*Article* **Design of a Nonhomogeneous Nonlinear Synchronizer and Its Implementation in Reconfigurable Hardware**

#### **Jesus R. Pulido-Luna 1,† , Jorge A. López-Rentería 1,2,† and Nohe R. Cazarez-Castro 1,\***


Received: 19 July 2020; Accepted: 13 August 2020; Published: 14 August 2020

**Abstract:** In this work, a generalization of a synchronization methodology applied to a pair of chaotic systems with heterogeneous dynamics is given. The proposed control law is designed using the error state feedback and Lyapunov theory to guarantee asymptotic stability. The control law is used to synchronize two systems with different number of scrolls in their dynamics and defined in a different number of pieces. The proposed control law is implemented in an FPGA in order to test performance of the synchronization schemes.

**Keywords:** chaos; synchronization; FPGA; UDS
