A Generalized Nyquist Stability Criteria for Heterogeneous Networks.
Joakim Bjørk · arXiv (Cornell University) · 2020
A decentralized stability criteria is derived for a network of heterogeneous agents. We define a closed convex hull, spanned by the heterogeneous agents, wherein the characteristic loci must be contained. The method preserves information about phase and gain. This allows us to guarantee stability using the generalized Nyquist criteria, with a minimum amount of conservatism. The decentralized stability criteria does not require any information about the network topology or of other agents. But, with knowledge about the eigenvalues of the network Laplacian, the proposed method allows us to be less conservative than passivity based methods. This allows us to include agents or subsystems with nonminimum phase actuators.