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Detectability of distributed consensus-based observer networks: An elementary analysis and extensions
This paper continues the study of local detectability and observability
requirements on components of distributed observers networks to ensure
detectability properties of the network. First, we present a sketch of an
elementary proof of the known result equating the multiplicity of the zero
eigenvalue of the Laplace matrix of a digraph to the number of its maximal
reachable subgraphs. Unlike the existing algebraic proof, we use a direct
analysis of the graph topology. This result is then used in the second part of
the paper to extend our previous results which connect the detectability of an
observer network with corresponding local detectability and observability
properties of its node observers. The proposed extension allows for
nonidentical matrices to be used in the interconnections.Comment: Accepted for presentation at the 2014 Australian Control Conference,
Canberra Australia, Nov 201
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