Zeros of transfer functions in networked control with higher-order dynamics

Abstract This paper presents some results regarding location of transfer function zeros in general network control systems with dynamics of arbitrary order. The numerator polynomial of the transfer function is derived as a function of single agent dynamics and a Laplacian matrix. The results already known in literature are extended from single integrator and bidirectional formations to general dynamics and general interconnection structures. The location of zeros is related to poles of a slightly modified structure. Therefore, in some cases the zeros must follow the same root-locus-like rules as the poles do and they interlace.

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