Decentralized robust tracking and model following for uncertain large-scale interconnected systems (Q5947262)

The authors consider the problem of decentralized robust tracking and model following for a class of large-scale uncertain dynamical system \(S\) composed of interconnected subsystems \(S_i\), \(i = 1,2,\dots, N\), described by the differential equations: \[ \begin{aligned} \dot x_i(t)&= [A_i + \Delta A_i(t)]x_i(t) + [B_i+\Delta B_i(t)]u_i(t) +\sum_{j=1}^N[E_{ij}(t)+\Delta E_{ij}(t)]x_j(t),\\ y_i(t)&=C_ix_i(t),\end{aligned} \] where \(x_i(t)\in\mathbb R^{n_i}\), \(u_i(t)\in\mathbb R^{m_i}\), \(y_i(t)\in\mathbb R^{l_i}\) are the state, control (or input), output vectors, and \(A_i\), \(B_i\), \(C_i\), \(E_{ij}\) are known constant matrices of appropriate dimensions, respectively. In particular, \(E_{ij}\) stands for the extent of the interconnection between \(S_j\) and \(S_i\); the matrices \(\Delta A_i(t)\), \(\Delta B_i(t)\), \(\Delta E_{ij}(t)\) represent the uncertainties of the system. The authors propose a class of continuous nonlinear decentralized state feedback controllers guaranteeing that the tracking errors between each subsystem and the local reference model decrease to zero uniformly and asymptotically. An illustrative example is given.