Dynamical properties of the repressilator model

Abstract

Oscillatory regulatory networks have been discovered in many regulatory pathways. Due to their enormous complexity, it is necessary to study their dynamics by means of highly simplified models. These models have received particular value because artificial regulatory networks can be engineered experimentally. In this paper, we study dynamical properties of an artificial regulatory oscillator called repressilator. We have shown that oscillations arise from the existence of an absorbing toruslike region in the phase space of the model. This geometric structure requires monotonic repression at all promoters and the absence of any regulatory connections apart from a cyclic repression loop. We show that oscillations collapse as only weak extra connections are introduced if there is imbalance between the attended concentrations and those sufficient for saturation of the promoters. We found that a pair of diffusively coupled repressilators displays synchronization properties similar to those of relaxation oscillators if the regulatory connections in the cyclic repression loop are strong. Thus, the role of strengthening these connections can be viewed as introducing time scale separation among variables. This may explain controversial synchronization properties reported for repressilators in earlier studies.