Disturbance attenuation type distributed control for identical decoupled linear systems

We propose a design method of disturbance attenuation type distributed control for identical decoupled linear systems together with conditions for stability of the closed loop global system. Using a simple example of formation flight corrupted by disturbances, we compare the design by the proposed method with that by the LQ control method in Borrelli and Keviczky (2006); we consider two kinds of disturbances, system disturbances and parameter variation. And we demonstrate that proposed method has superior robustness against disturbances.