A multiple-derivative and multiple-delay paradigm for decentralized controller design: uniform-rank systems

The work presented here is motivated by the need for new control schemes for modern dynamical networks, that can exploit a network's topological structure in shaping its dynamics. To this end, we introduce a new philosophy for decentralized controller design, that is based on first postulating and designing multiple output-derivative feedbacks at each control channel, and then using lead-compensator or multiple-delay-based implementations of the derivative feedback. The proposed design methodology is shown to achieve both stabilization and a certain group pole placement for a broad class of uniform-rank plants. The benefit of the new design methodology with regard to actuation requirements and complexity is demonstrated, and applications in both autonomous-agent-network and infrastructural control problems is discussed.