Controllability of LTI Networked Systems with Heterogeneous Dynamics

TL;DR

This paper establishes a necessary and sufficient condition for the controllability of directed, weighted networked systems composed of heterogeneous linear time-invariant nodes, with theoretical analysis and illustrative examples.

Contribution

It provides a comprehensive controllability criterion for heterogeneous LTI networked systems, extending previous results to more complex and realistic network topologies.

Findings

Controllability depends on network topology and node dynamics.

Certain topologies are inherently non-controllable.

Theoretical conditions are validated with examples.

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.