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1、StructurallyConstrainedControllersSomayehSojoudi?JavadLavaeiAmirG.AghdamStructurallyConstrainedControllersAnalysisandSynthesis1CSomayehSojoudiAmirG.AghdamCaliforniaInstituteofTechnologyConcordiaUniversityControl&DynamicalSystemsDept.Dept.Electrical&ComputerEngineeri
2、ngMailCode107-811455deMaisonneuveBlvd.West91125PasadenaCaliforniaEV005.139USAMontrealQuébecH3G1M8sojoudi@cds.caltech.eduCanadaaghdam@ece.concordia.caJavadLavaeiCaliforniaInstituteofTechnologyControl&DynamicalSystemsDept.MailCode107-8191125PasadenaCaliforniaUSAlavaei
3、@cds.caltech.eduISBN978-1-4419-1548-1e-ISBN978-1-4419-1549-8DOI10.1007/978-1-4419-1549-8SpringerNewYorkDordrechtHeidelbergLondonLibraryofCongressControlNumber:2011921396?SpringerScience+BusinessMedia,LLC2011Allrightsreserved.Thisworkmaynotbetranslatedorcopiedinwhole
4、orinpartwithoutthewrittenpermissionofthepublisher(SpringerScience+BusinessMedia,LLC,233SpringStreet,NewYork,NY10013,USA),exceptforbriefexcerptsinconnectionwithreviewsorscholarlyanalysis.Useinconnec-tionwithanyformofinformationstorageandretrieval,electronicadaptation
5、,computersoftware,orbysimilarordissimilarmethodologynowknownorhereafterdevelopedisforbidden.Theuseinthispublicationoftradenames,trademarks,servicemarks,andsimilarterms,eveniftheyarenotidentifiedassuch,isnottobetakenasanexpressionofopinionastowhetherornottheyaresubje
6、cttoproprietaryrights.Printedonacid-freepaperSpringerispartofSpringerScience+BusinessMedia(www.springer.com)...dedicatedtomymother—fromSomayehSojoudimyparents—fromJavadLavaeimywife—fromAmirG.AghdamPrefaceDecentralizedcontroloflarge-scalesystemshasbeenanactiveareaofr
7、esearchinthepast40years.Theneedforcomputationallyef?cientstrategiestocontrolhigh-ordersystemswithalargenumberofinputsandoutputswastheinitialmotivationforextensiveresearchinthisarea.However,duetosigni?cantadvancesincom-putertechnology,thismaynotbethemainconcerninprac
8、tice.Ontheotherhand,inmorerecentpracticalapplicationsoflarge-scalecontrolsystems(suchascooper-ativecontrolofautonomousvehicles),reliabilit
