Frequency-Domain Analysis and Design of Distributed Control Systems [Hardcover]

This book presents a unified frequency-domain method for the analysis of distributed control systems. The following important topics are discussed by using the proposed frequency-domain method: (1) Scalable stability criteria of networks of distributed control systems; (2) Effect of heterogeneous delays on the stability of a network of distributed control system; (3) Stability of Internet congestion control algorithms; and (4) Consensus in multi-agent systems. This book is ideal for graduate students in control, networking and robotics, as well as researchers in the fields of control theory and networking who are interested in learning and applying distributed control algorithms or frequency-domain analysis methods.

Preface xi

Glossary of Symbols xiii

1 Introduction 1

1.1 Network-Based Distributed Control System 1

1.2 Graph Theory and Interconnection Topology 4

1.2.1 Basic Definitions 4

1.2.2 Graph Operations 7

1.2.3 Algebraic Graph Theory 10

1.3 Distributed Control Systems 16

1.3.1 End-to-End Congestion Control Systems 16

1.3.2 Consensus-Based Formation Control 22

1.4 Notes and References 25

1.4.1 Graph Theory and Distributed Control Systems 25

1.4.2 Delay in Control and Control by Delay 26

References 26

2 Symmetry, Stability and Scalability 31

2.1 System Model 31

2.1.1 Graph-Based Model of Distributed Control Systems 31

2.1.2 Bipartite Distributed Control Systems 34

2.2 Symmetry in the Frequency Domain 36

2.2.1 Symmetric Systems 36

2.2.2 Symmetry of Bipartite Systems 38

2.3 Stability of Multivariable Systems 39

2.3.1 Poles and lã…