I. Introduction
Chaos is the long-term nonpredictive behavior observed in certain nonlinear dynamical systems due to the sensitivity of the output trajectory to the initial conditions. Although chaotic systems are deterministic and can be described using simple differential equations, their output trajectory can be only determined given the exact initial state of the system. As in practice the initial state of the system is only known with uncertainty due to the random environmental noise, the perturbations grow exponentially, leading to unpredictability [1].