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<p style='text-indent:20px;'>The present document outlines a non-linear control theory, based on the PID regulation scheme, to synchronize two second-order dynamical systems insisting on a Riemannian manifold. The devised extended PID scheme, referred to as M-PID, includes an unconventional component, termed 'canceling component', whose purpose is to cancel the natural dynamics of a system and to replace it with a desired dynamics. In addition, this document presents numerical recipes to implement such systems, as well as the devised control scheme, on a computing platform and a large number of numerical simulation results focused on the synchronization of Duffing-like non-linear oscillators on the unit sphere. Detailed numerical evaluations show that the canceling contribution of the M-PID control scheme is not critical to the synchronization of two oscillators, however, it possesses the beneficial effect of speeding up their synchronization. Simulation results obtained in non-ideal conditions, namely in the presence of additive disturbances and delays, reveal that the devised synchronization scheme is robust against high-frequency additive disturbances as well as against observation delays.</p>

The present paper outlines a general second-order dynamical system on manifolds and Lie groups that leads to defining a number of abstract non-linear oscillators. In particular, a number of classical non-linear oscillators, such as the simple pendulum model, the van der Pol circuital model and the Duffing oscillator class are recalled from the dedicated literature and are extended to evolve on manifold-type state spaces. Also, this document outlines numerical techniques to implement these systems on a computing platform, derived from classical numerical schemes such as the Euler method and the Runke-Kutta class of methods, and illustrates their numerical behavior by a great deal of numerical examples and simulations.