Control of Large-Scale Cyber-Physical Systems with Agents Having Various Dynamics

In this paper, a controller design methodology is developed for large-scale cyber-physical systems (CPSs) with agents having various dynamics. Especially, we propose a representative model of much lower order than the scale of the original CPS. This model facilitates designing controllers for large-scale CPSs. We derive necessary and sufficient conditions such that controllers designed for the proposed representative model stabilize the original CPS with given performance. The representative model is in the form of a nominal model with a variation of the agent models. This result shows that bad behavior of a few agents does not affect the stability or performance of the original system very much. Finally, the effectiveness of the proposed method is illustrated by simulation for a power grid.