Cluster synchronization in community networks with nonidentical nodes.

In this paper dynamical networks with community structure and nonidentical nodes and with identical local dynamics for all individual nodes in each community are considered. The cluster synchronization of these networks with or without time delay is studied by using some feedback control schemes. Several sufficient conditions for achieving cluster synchronization are obtained analytically and are further verified numerically by some examples with chaotic or nonchaotic nodes. In addition, an essential relation between synchronization dynamics and local dynamics is found by detailed analysis of dynamical networks without delay through the stage detection of cluster synchronization.