Decentralized control of interconnected physical systems

摘要

The decentralized control problem is considered in the context of interconnected physical systems. The system is assumed to be made up of subsystems modelled by second-order differential equations. Conditions for the non-existence of decen tralized fixed modes and the existence of a solution to the decentralized servo- mechanism problem are given. An example from a planar robotic manipulator illustrates the results.