期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 57, 期 3, 页码 743-748出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2011.2168912
关键词
Consensus; controllability; Laplacian; observability
资金
- EU [224428, 231378]
- national project Sviluppo di nuovi metodi e algoritmi per l'identificazione, la stima bayesiana e il controllo adattativo e distribuito
In this technical note we investigate the reachability and observability properties of a network system, running a Laplacian based average consensus algorithm, when the communication graph is a path or a cycle. Specifically, we provide necessary and sufficient conditions, based on simple rules from number theory, to characterize all and only the nodes from which the network system is reachable (respectively observable). Interesting immediate corollaries of our results are: i) a path graph is reachable (observable) from any single node if and only if the number of nodes of the graph is a power of two, n = 2(i) ; i is an element of N and ii) a cycle is reachable (observable) from any pair of nodes if and only if is a prime number. For any set of control (observation) nodes, we provide a closed form expression for the (unreachable) unobservable eigenvalues and for the eigenvectors of the (unreachable) unobservable subsystem.
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