Lecture 1

Introduction to Chaos
D. RONTANI* and D. S. CITRIN
[email protected]
School of Electrical and Computer Engineering
Georgia Institute of Technology
Atlanta, Georgia 30332-0250
and
Unité Mixte Internationale 2958 Georgia Tech-CNRS
Georgia Tech Lorraine
Metz Technopôle, 2 rue Marconi
57070 Metz, France
*Now at Department of Physics, Duke University, Durham, North Carolina
 Outline

•  Presentation of the Lab

•  Introduction to Nonlinear Dynamics & Chaos Theory

•  Nonlinear Dynamics of Optoelectronic Devices

•  Conclusion
 CHAOS GROUP @ Georgia Tech

Global Connections of the Chaos Group

1) Joint Lab UMI2958 CNRS (France) - Georgia Tech (USA) 
Associate members: Supélec, UPV-M (France)
2) International Research Partners: Saitama University (Japan) and
University of Cantabria (Spain)

Chaos Communications Group

PI: Prof. D. S. Citrin (GT, UMI)
Researcher: Dr. A. Locquet (GT, UMI)
PhD Students: Byungchil (Bobby) Kim (GT, UMI) and A. Sahai (GT, UMI)
Collaborator: Prof. M. Sciamanna (Supélec, UPV-M, UMI)
 Presentation Outline

•  Presentation of the Lab

•  Introduction to Nonlinear Dynamics & Chaos Theory

•  Nonlinear Dynamics of Optoelectronic Devices

•  Conclusion
 SOME WORDS ON CHAOS
INTRODUCTION TO CHAOS THEORY
From B. Xu (UC Berkeley)

‘‘Irregular motion of a dynamical system that is deterministic,

sensitive to initial conditions, and impossible to predict in
the long term with anything less than an infinite and perfect
representation of analog values.’’ G.W. Flake

‘‘Chaos is sustained and disorderly-looking long-term evolution

that satisfies certain special mathematical criteria and that occurs in a
deterministic non-linear system.’’ G.P. Williams

‘‘The property that characterizes a dynamical system in which most orbits

exhibit sensitive dependence.’’ E. Lorenz
 A BRIEF HISTORY OF CHAOS
INTRODUCTION TO CHAOS THEORY

1873 - J.C. Maxwell on the sensitivity to initial conditions (SIC). He

assumed that it could only happen in systems with a very large
number of variables (‘‘sufficient numerical complexity’’)
1913 - H. Poincaré on the SIC in a system with a small number of
variables and on the unpredictability.

1963 - E. Lorenz (MIT), seminal paper ‘‘Deterministic Nonperiodic Flow’’ on

SIC, later named the ‘‘butterfly effect’’.

1975 - T.-Y. Li and J. Yorke (UMD), introduced the word chaos in their
paper ‘‘Period three implies chaos’’.
 ‘‘THE BUTTERFLY EFFECT’’ BY LORENZ
INTRODUCTION TO CHAOS THEORY

▶ Edward Lorenz reports on dynamical instabilities in his article

‘‘Deterministic nonperiodic flow,’ ’ J. Atmos. Sci. (1963), but it did not receive
much interest until his talk at the AAAS meeting in1972.

On unpredictibility: 
‘‘Does the flap of a butterfly’s wings in Brazil set off a tornado in Texas?’’ --Philip Merilees

▶ How it came about

▶ Lorenz simulated the atmosphere with a set of 12 equations.

▶ 1961: To examine a data sequences of greater length,

instead of starting over, Lorenz started his simulation midway.
▶ He loaded the initial conditions (corresponding to the middle) from an earlier
printout.
▶ He let the simulation run and came back an hour later. He observed that the
sequences evolved differently!
 ‘‘THE BUTTERFLY EFFECT’’ BY LORENZ
INTRODUCTION TO CHAOS THEORY

▶ Epilogue
▶ Lorenz’s computer had a finite precision of 6 decimal places at the time.
▶ However, Lorenz entered initial conditions with a three-decimal-place precision,
considering the difference of 1 part in 1000 negligible.
▶ Notion of butterfly effect was born (aka SIC)

time series

▶ The ending?
▶ Asad ending? ‘‘In view of the inevitable inaccuracy and incompleteness of weather
observations, precise very long-range forecasting would seem to be non-existent.’ ’
▶ A
happy ending! Lorenz’s attractor, emblem of chaos theory, is born and with it a
whole new scientific field that is still very active today.
 Dynamical Systems: Basic Quantites
INTRODUCTION TO CHAOS THEORY

▶ Dynamical quantity: A physical quantity (position, momentum, phase, electric field,...)

that depends on time.

▶ Dynamical system: A set of dynamical quantities that evolves together under a

coupled set of equations or maps.

▶ Continuous-time versus discrete-time dynamical systems: Depends on whether

time is treated as a continuous or discrete variable.
▶ Continuous-time dynamical systems are governed by (sets of coupled) ordinary
differential equations (ODE), partial differential equations (PDE), integro-differential
equations, delay-differential equations,...

For example, Newton’s second law, Maxwell’s equations,...

▶ Discrete-time dynamical systems are governed by maps (iterate).

For example xn+1 = F(xn).

 Dynamical Systems: Basic Quantites
INTRODUCTION TO CHAOS THEORY

▶ Linear(dynamical) system: A dynamical system, whose dynamical quantities respond

under the influence of a driving field or driving force linearly with respect to that
driving field or force. Such (continuous-time) systems are characterized by linear
(integro-)differential equations.

For example:

▶ Nonlinear (dynamical) system: A dynamical system, whose dynamical quantities

respond under the influence of a driving field or driving force nonlinearly with respect
to that driving field or force. Such (continuous-time) systems are characterized by
nonlinear (integro-)differential equations.
 Dynamical Systems: Visualizing Chaos
INTRODUCTION TO CHAOS THEORY

▶ Time series: A sequence of data points, measured at successive times spaced at

uniform time intervals. For us in practice, a plot of the time evolution of a dynamical
quantity.

For example the position of an electron as a function of time under the influence of
an electromagnetic field.

time series
 Dynamical Systems: Visualizing Chaos
INTRODUCTION TO CHAOS THEORY

▶ Phase space: The space in which all possible states of a system are represented, with each
possible state of the system corresponding to one unique point in the phase space.

For mechanical systems, phase space usually consists of all possible values of position and
momentum variables.

Trajectory in phase space: Given an initial state (point) in phase space, that state
evolves in time. The trace of states over the course of that evolution (where time is
considered parametric) is a trajectory.
 Dynamical Systems: Visualizing Chaos
INTRODUCTION TO CHAOS THEORY

▶ Sensitivity to initial conditions (SIC): The butterfly effect

Widely divergent trajectories

in phase space

Trajectory in phase space: Given an initial state in phase space, that state evolves in
time. The trace of states over the course of that evolution (where time is considered
parametric) is a trajectory.
 Dynamical Systems: Visualizing Chaos
INTRODUCTION TO CHAOS THEORY

▶ Poincaré Section: In a section through phase space, we plot the

points where a trajectory crosses the section.

In Poincaré section S, the Poincaré map P projects point x onto

point P(x). P(x) is the first recurrence.
 Dynamical Systems: Visualizing Chaos
INTRODUCTION TO CHAOS THEORY

▶ Stroboscopic Map: For a dynamical system driven by a periodic force, we expect that
in the periodic regime, the period of a system should be related to the period of
external force. If T is the period of the external force, then system period will be nT,
where n is an integer. In the chaotic regime n tends to infinity. The number distinct
points (over a long period of time) plotted on a stroboscopic map indicates the
period of the system. Hence, in chaotic regimes the stroboscopic map tries to fill a
subset of phase space.

A stroboscopic map plots a set of dynamical variables at the discrete times nT in a

section through phase space.
http://www.personal.psu.edu/users/s/a/saj169/Poincaremap/Htmlfiles/PoincareMapintro.html
 Dynamical Systems: Visualizing Chaos
INTRODUCTION TO CHAOS THEORY

Example of a stroboscopic map: A magnet of magnetic dipole

▶

moment m in an oscillating magnetic field: Consider a compass

needle at angle of moment of inertial I that is free to rotate in a
periodic magnetic field perpendicular to the axis of the
needle.

If parameter , the system exhibits chaotic

motion.

http://www.personal.psu.edu/users/s/a/saj169/Poincaremap/Htmlfiles/PoincareMapintro.html
 Dynamical Systems: Visualizing Chaos
INTRODUCTION TO CHAOS THEORY

Stroboscopic map in periodic (non-chaotic) regime:

http://www.personal.psu.edu/users/s/a/saj169/Poincaremap/Htmlfiles/PoincareMapintro.html
 Dynamical Systems: Visualizing Chaos
INTRODUCTION TO CHAOS THEORY

Stroboscopic map in transition:

http://www.personal.psu.edu/users/s/a/saj169/Poincaremap/Htmlfiles/PoincareMapintro.html
 Dynamical Systems: Visualizing Chaos
INTRODUCTION TO CHAOS THEORY

Stroboscopic map in chaotic regime:

http://www.personal.psu.edu/users/s/a/saj169/Poincaremap/Htmlfiles/PoincareMapintro.html
 Visualizing Chaos: Strange Attractors
INTRODUCTION TO CHAOS THEORY

▶ Representations of chaotic states

▶ The evolution of the state variable can be represented as 1D time series
▶ Evolution of the state variable can be represented simultaneously in a nD phase
space.
▶ When the system is chaotic, the trajectory is called a ‘‘strange attractor’’
▶ Lorenz Attractor (3D nonlinear system)

Lorenz’s Model

▶ Fractaltrajectory confined in phase space with a chaotic attractor

▶ Unpredictable time series confined in the phase space
 Digresssion: Key Ingredients for Chaos
INTRODUCTION TO CHAOS THEORY

▶ Ingredients
▶ Nonlinearity
Dimension (lower bound)
▶
y y
Poincaré-Bendixon Theorem
Given a differential equation dx/dt = F(x) in the plane (2D).
Assume x(t) is a solution curve which stays in a bounded
region. Then either x(t) asymptotically converges to an
equilibrium point where F(x) = 0, or it converges to a
single periodic cycle.
x x
▶ What if the assumptions are not satisfied?
Consider a system time-continuous, , and be sure to have the system’s state
dimension >2 (or a number of degree of freedom >2) and trajectories are bounded.
Adjust the system’s parameters (upcoming slides) and the result follows for large t.

▶ Some words on maps (discrete-time systems)

Maps are not subject to the same rules. For instance, a simple
scalar nonlinear map can exhibit chaos.
S. Strogatz, “Nonlinear Dynamics and Chaos with application to physics, biology, chemistry and engineering’’, Perseus Book (1994)
 Visualizing Chaos: Bifurcation Theory
INTRODUCTION TO CHAOS THEORY

▶ Necessary conditions for chaos (n > 2, nonlinear, bounded trajectories, continuous-time

systems). But sufficient?
▶ Not quite, but sometimes, if the system’s parameters are adequately chosen
▶ Existence of a large diversity of dynamical evolution for different parameters’ values
▶ steady states, limit-cycle oscillations, quasi-periodic oscillations, chaos

▶ Notions of Bifurcations
▶ Definition: Qualitative change of the system’s dynamics under quasistatic
variations of a control parameter
▶ Many different bifurcations: saddle-node, Hopf, period doubling, torus...

▶ Transitions to chaos via a single bifurcation?

▶ Route to Chaos
▶ Route to chaos via a cascade of bifurcations
▶ e.g.: Period-doubling route to chaos, quasi-periodic route to chaos

▶ Abrupt Transitions: crisis

S. Strogatz, Nonlinear ‘‘Dynamics and Chaos with application to physics, biology, chemistry and engineering’’, Perseus Book, (1994)
 Visualizing Chaos: A Route to Chaos
INTRODUCTION TO CHAOS THEORY
Different evolutions for different value of a parameter: 
a bifurcation
Limit Cycle (period 1) diagram
Limit Cycle (period 2)
Different transitions between the different states...
A ‘‘Period-Doubling Route to Chaos’’
Steady State Chaotic Attractor
Hopf Bifurcation Period-doubling Bifurcation
destabilization of a steady Destabilization of a limit cycle
System’s output

state into a limit cycle (P-1) into a limit cycle (P-2)

parameter
 Visualizing Chaos: Fold & Stretch
INTRODUCTION TO CHAOS THEORY

▶ Main characteristics
▶ Unpredictable and confined trajectories repeatedly convergent and divergent
▶ SIC: amplification of small variations--rapidly divergent trajectories, yet confined in
a bounded space
What is the underlying mechanism ?
▶ Answer: stretch-and-fold flow

The flow is associated to the

▶ Flows: differential equation dx/dt = F(x)

▶ The flow will stretch a region of the state-space

▶ The flow will fold back the region into another bounded region of the state space

▶ Induce a stable dynamical instability leading to a strange attractor.

Famous illustration with maps: the baker’s map !

 Visualizing Chaos: Baker’s Map
INTRODUCTION TO CHAOS THEORY
Adapted From J. Crutchfield’s Lectures (UC Davis)

▶ Stretch and fold illustrated with the dissipative baker’s map

Shrink
1 Stretch 1
1/2
Iteration 1 a cut & stack
0
0 0 1 2 0 a
0 1 0 1
Discrete flow’s action on
Shrink the whole state-space
1 Stretch 1
1/2 a2
Iteration 2 cut & stack
0
0 0 1 2 0 a2
0 1 0 1

Iteration n strange attractor with a fractal structure

visible for n large

S. Strogatz, Nonlinear ‘‘Dynamics and Chaos with application to physics, biology, chemistry and engineering,’’ Perseus Book, (1994)
 Visualizing Chaos: Mathematics of the Baker’s Map
INTRODUCTION TO CHAOS THEORY
Adapted From J. Crutchfield’s Lectures (UC Davis)

▶ Mathematical modeling of the dissipative baker’s map

▶ Stability analysis
▶ The spectrum of matrix A implies Det A<1(volume contraction), and the
existence of an attractor (as observed in the previous slide)
▶ Sensitivity to initial conditions: and (pertubated CI)
▶ Exponential divergence of the error in x direction
▶ Exponential stability of the error in y direction

▶ Characterization of the SIC for a particular map

General characterization of SIC in a chaotic system?

S. Strogatz, Nonlinear ‘‘Dynamics and Chaos with application to physics, biology, chemistry and engineering,’’ Perseus Book, (1994)
 Visualizing Chaos: Lyapunov Exponents
INTRODUCTION TO CHAOS THEORY

▶ Lyapunov exponent (LE)

▶ Basic idea: to measure the average rate of divergence for neighboring
trajectories on the attractor in phase space.
▶ A small sphere centered on the attractor. With time, the sphere becomes an
ellipsoid. The principal axes are in the direction of contraction and expansion.
▶ Lyapunov exponents (LE): average rate of these contractions/expansions
▶ For chaos (SIC), one LE (hyperellipsoid) must be positive.
trajectory in phase-space

Mathematical formulation :
See next slide and
http://en.wikipedia.org/wiki/Lyaponov_exponent

deformation of the ith principal axis

S. Strogatz, Nonlinear ‘‘Dynamics and Chaos with application to physics, biology, chemistry and engineering,’’ Perseus Book, (1994)
 Visualizing Chaos: Lyapunov Exponents
INTRODUCTION TO CHAOS THEORY

▶ Lyapunov exponent (LE)

In other words, two trajectories in phase space with initial

separation vector diverge

where λ is the maximum Lyapunov exponent (for the direction

of ).

The rigorous definition of the Lyaponov exponents

accounts for differential divergence in different directions in
phase space of nearby attractors.
 Quantifying Chaos
INTRODUCTION TO CHAOS THEORY

▶ Dimension of a strange attractor: several definitions

▶ Fractal
dimension (Kolmogorov capacity, Minkowski–Bouligand dimension,
Minkowski dimension, box-counting dimension)

To calculate this dimension for a strange attractor, imagine this fractal object
lying on an evenly spaced grid, and count how many boxes N(ε) of side
length ε are required to cover the set. The box-counting dimension is
calculated by seeing how this number changes as we make the grid finer:

H. Kantz and T. Schreiber, ‘‘Nonlinear Time Series Analysis,’’ Cambridge University Press, (2001)
 Quantifying Chaos
INTRODUCTION TO CHAOS THEORY

▶ Dimension of a strange attractor: several definitions

▶ Example of fractal dimension: Sierpinski gasket

H. Kantz and T. Schreiber, ‘‘Nonlinear Time Series Analysis,’’ Cambridge University Press, (2001)
 Quantifying Chaos
INTRODUCTION TO CHAOS THEORY

▶ Dimension of a strange attractor: several definitions

▶ Information dimension: Focuses on how the average information needed to
identify an occupied box scales, as the scale of boxes gets smaller
▶ Depends on the probability of the attractor to visit of the ith
hypercube that partitions of the phase space

with the information function

(or the Shannon information), i.e., the information necessary to specify a state of
the system with precision. N(ε) is the number of hypercubes with edge of length ε.

is known as the dynamical Shannon entropy and provides a route

to define the Kolmogorov-Sinai entropy.

H. Kantz and T. Schreiber, ‘‘Nonlinear Time Series Analysis,’’ Cambridge University Press, (2001)
 Quantifying Chaos
INTRODUCTION TO CHAOS THEORY

▶ Dimension of a strange attractor: several definitions

▶ In general, and are equal when

Let be independent of and

Thus, equality follows.

H. Kantz and T. Schreiber, ‘‘Nonlinear Time Series Analysis,’’ Cambridge University Press, (2001)
 Quantifying Chaos
INTRODUCTION TO CHAOS THEORY

▶ Entropy in chaotic systems: Kolmogorov-Sinai (KS) entropy

▶ Also called metric entropy, the technical definition a bit involved. (See C. Beck
and F. Schlögl, Thermodynamics of chaotic systems (Cambridge Univ. Press,
Cambridge, 1993).

▶ Measure of the degree of chaos by generalizing the concept of entropy for state-
space dynamics: The larger hKS, the more unpredictable the dynamics.
▶ The KS entropy hKS measures the average rate of loss of information.

▶ hKS = 0 for nonchaotic motion and > 0 for chaotic motion.

 Quantifying Chaos
INTRODUCTION TO CHAOS THEORY

▶ Lyapunov spectrum: connexion with dimension and entropy

▶ Pesin identity concerning the KS entropy (easier to work with than definition of hKS)

▶ Kaplan-Yorke conjecture & Lyapunov dimension dL. Put

with j defined by and

▶ Conjecture:

Important because Lyaponov exponents (LE) may be easier to compute than

hKS or dI. Since various dimensions may be similar in magnitude, knowledge of
LEs in practice provides information on complexity of the chaos.
 Outline

•  Presentation of the Lab

•  Introduction to Nonlinear Dynamics & Chaos Theory

•  Nonlinear Dynamics of Optoelectronic Devices

•  Conclusion
 Lasers: A Dynamical Point of View
APPLICATION TO OPTICAL SYSTEMS

▶ Principles of operation Energy

▶ Stimulated emission in a a two-level system

▶ Confinement in a resonator: photon trap
Spontaneous  Stimulated 
▶ Amplification of the stimulated emission Emission Emission
▶ Mode (frequency) selection

▶ Consequences: spatial and temporal coherence of the electromagnetic (EM) field

(Takes at least one more level to make a laser.)

 Lasers: A Dynamical Point of View
APPLICATION TO OPTICAL SYSTEMS

▶ General model: Optical-Bloch equations

▶ Density-matrixequations for near-resonant optical (electromagnetic) field
coupled to an ensemble of two-level atoms
▶ Formallyanalogous to collection of spin-1/2 systems coupled to an oscillatory
magnetic field (nuclear magnetic resonance)
▶ Maxwell-Bloch equations
▶ Density-matrix equations for near-resonant optical (electromagnetic) field coupled
to ensemble of two-level systems (gain medium) including propagation
▶ Semiclassical model

▶ Slow varying envelope approximation (SVEA)

The slowly-varying envelope varies slowly on the timescale of .

 Lasers: A Dynamical Point of View
APPLICATION TO OPTICAL SYSTEMS

▶ Maxwell-Bloch equations
▶
Coupled nonlinear PDEs for the slowly-varying envelope of the electric field E,
the polarization (coherence between upper and lower state) P, and the
population difference (inversion) W=Nupper-Nlower between the upper and lower
state.

Tph = cavity-photon lifetime = drive frequency k = freespace

T1 = upper-state lifetime = transition frequency propagation
T2 = dephasing time = propagation constant constant
c = in-vaccuo speed of light = dipole moment W0= inversion at
equilibrium
 Lasers: A Dynamical Point of View
APPLICATION TO OPTICAL SYSTEMS

▶ Lorenz-Haken equations
▶ Simplification of Maxwell-Bloch equations (PDE becomes ODE)--integrate
out spatial (z) dependence:

with

H. Haken, Phys Lett A 53, 77–78 (1975)

▶ Laser equations are identical to those of Lorenz:

, , , and
 Lasers: A Dynamical Point of View
APPLICATION TO OPTICAL SYSTEMS

▶ Arecchi’s classification of lasers

▶ 3 Classes (A, B, or C) depending on the values of 3 characteristic times:
▶ Class C Laser (only intrinsically chaotic lasers): (NH3, Ne-Xe,
infrared He-Ne)
▶ Class B Laser: (ruby, Nd, CO2, edge-emitting single-mode laser
diodes)
▶ Class A Laser: (visible He-Ne, Ar, Kr, dye lasers, quantum
cascade lasers)
▶ In Class B and A lasers, the short-timescale quantities can be integrated out,
effectively reducing the dimensionality of the system:
Class C - 3D
Class B - 2D
Class A - 1D
First Experimental Evidence of Chaos in Optics/Lasers
APPLICATION TO OPTICAL SYSTEMS

▶ Observations in a gas laser

▶ Observations in a laser under a modulated external field

 First Experimental Evidence of Chaos in Lasers
APPLICATION TO OPTICAL SYSTEMS

▶ Observations in a Q-switched lasers

▶ Observations in an external-cavity semiconductor laser

 Chaos in Semiconductor Lasers
APPLICATION TO OPTICAL SYSTEMS

Adapted From M. Sciamanna

▶ Semiconductor laser diodes: class-B lasers
▶ Rate equations to describe the laser--polarization (coherence) P has been eliminated

▶ One equation for the field amplitude (E) coupled to one equation for the carrier
inversion (N). One equation for the field phase which is independent!

with

= linewidth enhancement factor (gives coupling between amplitude and phase

of E--feature for semiconductor lasers)
G = G(N(t)) = gain coefficient roughly proportional to N(t)
= carrier recombination rate (other than stimulated emission)
= cavity-photon lifetime
J = injection current
 Chaos in Semiconductor Lasers
APPLICATION TO OPTICAL SYSTEMS
Adapted From M. Sciamanna

▶ Semiconductor lasers = nonlinear damped oscillators

|E|2

Limit cycle
W

▶ Two coupled equations

▶ Not enough degrees of freedom to exhibit
intrinsic chaotic behavior
▶ Requires additional external degree(s) of
freedom!
 Chaos in Semiconductor Lasers
APPLICATION TO OPTICAL SYSTEMS

▶ How can we add dimensions (degrees of freedom)?

Time-delayed feedback

The number of dimensions is equal to the number of initial conditions

needed to specify the subsequent dynamics t > 0.
For an ordinary particle in 3D, the number of dimensions is 6.

For a time-delay τ system, the subsequent dynamics t > 0 require a

knowledge of x(t) and v(t) for –τ < t < 0.
Infinite number of values infinite dimensional.
 Chaos in Semiconductor Lasers
APPLICATION TO OPTICAL SYSTEMS

▶ Configurations exploiting internal nonlinearities

▶ Optoelectronic feedback ▶ optical feedback (external cavity laser)

S. Tang and J.-M. Liu, IEEE J. Quantum Electron. 37, 329-336 (2001) R. Lang and K. Kobayashi, IEEE J. Quantum Electron. 16, 347-355 (1980)

▶ Configurations exploiting external nonlinearities

▶ Optoelectronic feedback ▶ Erbium-doped fiber ring laser (EDFRL)

J.-P. Goedgebuer et al., IEEE J. Quantum Electron. 38, G.D. VanWiggeren and R. Roy, Phys. Rev. Lett. 81,
1178-1183 (2002) 3547-3550 (1998)
 Presentation Outline

•  Presentation of the Lab

•  Introduction to Nonlinear Dynamics & Chaos Theory

•  Nonlinear Dynamics of Optoelectronic Devices

•  Conclusion
 Conclusion

▶ Chaotic behavior characterized by unpredictabilitysensitivity to initial conditions

(SIC).

• Strongly (exponentially) divergent trajectories in phase space (Lyaponov coefficients)

• Chaotic trajectory: strange attractor
• Bifurcations: route to chaos

▶ Appearsin nonlinear systems with sufficient large dimension (for ODE) and for
an appropriate set of parameter values.

• Poincaré-Bendixon Theorem

▶ Chaos is intrinsic only in Class C lasers. Laser diodes are Class B. Chaos achieved
by adding dimensions via time-delayed feedback
[email protected]