Controllability of networked systems with heterogeneous dynamics

Abstract: In this paper, a necessary and sufficient condition for the controllability of networked systems with heterogeneous dynamics is established where the nodes are higher dimensional linear time invariant systems and the network topology is directed and weighted. The controllability of networked system over some specific topologies are also examined and some non-controllability results are obtained. The theoretical results are demonstrated with examples.

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The paper studies the controllability of linear systems \(\dot X=FX+GU\) with the following structure: \(F=A+C\otimes H\) and \(G=D\otimes B\), where the matrix \(A\) is bloc-diagonal and each of its \(N\) blocs has the same dimension \(n\), \(C\) is a \(N\times N\) triangularizable matrix with triangularizing matrix \(T\), \(D\) is a diagonal \(N\times N\) matrix, while \(H\) and \(B\) are general \(n\times n\) matrix. A system in this class describes a family of \(N\) interconnected linear systems of dimension \(n\) with a suitable structure. The main result of the system is a set of necessary and sufficient conditions for the controllability of such a system under the additional hypothesis that \(T\otimes I\) commutes with \(A\). The result generalizes a necessary and sufficient condition obtained in [\textit{Y. Hao} et al., Int. J. Robust Nonlinear Control 28, No. 5, 1778--1788 (2018; Zbl 1390.93147)] in the case where all the blocs of \(A\) are identical.

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