How clock heterogeneity affects synchronization and can enhance stability

The production process of integrated electronic circuitry inherently leads to large heterogeneities on the component level. For electronic clock networks this implies detuned intrinsic frequencies and differences in coupling strength and the characteristic time delays associated with signal transmission, processing, and feedback. Using a phase-model description, we study the effects of such component heterogeneity on the dynamical properties of synchronization in networks of mutually delay-coupled Kuramoto oscillators. We test the theory against experimental results and circuit-level simulations in a prototype system of mutually delay-coupled electronic clocks, so-called phase-locked loops. Interestingly, our results show that heterogeneity in the system can actually enhance the stability of synchronized states. That means that beyond the optimizations that can be achieved by tuning homogeneous coupling strengths, time delays, and loop-filter cut-off frequencies, heterogeneities in these system parameters enable much better optimization of perturbation decay rates, stabilization of synchronous states, and tuning of phase differences between the clocks. Our theory enables the design of custom-fit synchronization layers according to the specific requirements and properties of electronic systems, such as operational frequencies, phase relations, and, e.g., transmission delays. These results are not restricted to electronic systems, because signal transmission, processing, and feedback delays are common to networks of spatially distributed and coupled autonomous oscillators.