Fig. 5.

The effect of the parameter $v_{\mathit{es}}$ on control. a1–e1 The state simulation results in (${\nu }_{p_1\zeta },KK$). Here, we define ${\nu }_{r{p}_1}=KK{\nu }_{s{p}_1}$, and KK is a constant, which represents the competitive relationship between ${\nu }_{r{p}_1}$ and ${\nu }_{s{p}_1}$. They are simulated via taking $v_{\mathit{es}}$=0.8, $v_{\mathit{es}}$=1, $v_{\mathit{es}}$=1.5, $v_{\mathit{es}}$=2 and $v_{\mathit{es}}$=2.3, respectively. Different oscillation states are distinguished by four different colors, which show that the dynamic behaviors have good robustness within some small ranges of parameter changes, such as (a) and (b), or, (c), (d) and (e). And, the $v_{\mathit{es}}$ has great effect on control when it changes greatly. a2–e2 The corresponding DF calculation results