Analysis and Synthesis of Discrete-Time Interconnected Positive Systems

Hiroyuki Ichihara, Shoya Tanabe, Yoshio Ebihara, Dimitri Peaucelle

Research output: Contribution to journalArticlepeer-review


<p>This paper presents analysis and synthesis of interconnected systems where the interconnected system of interest consists of discrete-time positive subsystems and an interconnection matrix. The paper gives sufficient conditions for the discrete-time single-input single-output (SISO) subsystems and the interconnection matrix so that the interconnected system has the property of persistence. The fundamental differences for the persistence between the conditions of the discrete-time setting and those of a continuous-time setting are also discussed. The obtained analysis result can apply to formation control for multi-agent systems, which is a synthesis part of the paper. Numerical examples including formation control of mobile robots are shown to illustrate the proposed formation control design method.</p>
Original languageEnglish
Pages (from-to)91-99
Number of pages9
JournalSICE Journal of Control, Measurement, and System Integration
Issue number2
Publication statusPublished - 2018


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