Further on the controllability of networked MIMO LTI systems

Further on the controllability of networked multiple-input–multiple-output systems, an efficient, necessary, and sufficient condition is derived, where the network topology is directed and weighted and the nodes are higher-dimensional linear time-invariant systems. The new condition is easier to verify, which explicitly shows the effects of the network topology, node-system dynamics, external control inputs, and inner interactions on the controllability of the whole networked system. For networked multiple-input–multiple-output systems in several specific topologies, the corresponding conditions are expressed more precisely. The effectiveness of the conditions is demonstrated through several examples.