The steady-state disagreement variance of a networked linear control system equals a sum, over the nonzero Laplacian eigenvalues, of a rational function determined by the node dynamics and feedback gain.
Coherence in large-scale networks: Dimension-dependent limitations of local feed- back,
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Explicit Characterization of Performance of a Class of Networked Linear Control Systems
The steady-state disagreement variance of a networked linear control system equals a sum, over the nonzero Laplacian eigenvalues, of a rational function determined by the node dynamics and feedback gain.