We provide a complete analysis of the Kuramoto model of coupled nonlinear oscillators with uncertain natural frequencies and arbitrary interconnection topology. Our work extends and supersedes existing, partial results for the case of an all-to-all connected network. Using tools from spectral graph theory and control theory, we prove that for couplings above a critical value all the oscillators synchronize, resulting in convergence of all phase di#erences to a constant value, both in the case of identical natural frequencies as well as uncertain ones. We further explain the behavior of the system as the number of oscillators grows to infinity.

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A modified Kuramoto model of synchronization in a finite discrete system of locally coupled oscillators is studied. The model consists of N oscillators with random natural frequencies arranged on a ring. It is shown analytically and numerically that finite-size systems may have many different synchronized stable solutions which are characterised by different values of the winding number. The lower bound for the critical coupling kc is given, as well as an algorithm for its exact calculation. It is shown that in general phase-locking does not lead to phase coherence in 1D. PACS numbers: 05.45.Xt 1.