System level synthesis: A tutorial

This tutorial paper provides an overview of the System Level Approach to control synthesis; a scalable framework for large-scale distributed control. The system level approach is composed of three central components: System Level Parameterizations (SLPs), System Level Constraints (SLCs) and System Level Synthesis (SLP) problems. We describe how the combination of these elements parameterize the largest known class of constrained controllers that admit a convex formulation.