The hypothesis that cardiac rhythms are associated with chaotic dynamics im
plicating a healthy flexibility has motivated the investigation of continuo
us ECG with methods of nonlinear system theory. Sleep is known to be associ
ated with modulations of the sympathetic and parasympathetic control of car
diac dynamics. Thus, the differentiation of ECG signals recorded during dif
ferent sleep stages can serve to determine the usefulness of nonlinear meas
ures in discriminating ECG states in general. For this purpose the followin
g six nonlinear measures were implemented: correlation dimension D2, Lyapun
ov exponent L1. Kolmogorov entropy K2, as well as three measures derived fr
om the analysis of unstable periodic orbits. Results of this study show tha
t continuous ECG signals can be differentiated from linear stochastic surro
gates by each of the nonlinear measures. The most significant finding with
respect to the sleep-related differentiation of ECG signals is an increase
in dominant chaoticity assessed by L1 and a reduction in the degrees of fre
edom estimated by D2 during REM sleep compared to slow wave sleep, Our find
ings suggest that the increase in dominant chaoticity during REM sleep with
regard to time-continuous nonlinear analysis is comparable to an increased
heart rate variability. The reduction in the correlation dimension may be
interpreted as an expression of the withdrawal of respiratory influences du
ring REM sleep.