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Consensus of discrete-time linear multi-agent systems with inherent connections

This paper considers the consensus problem of discrete-time multi-agent systems, where there exist inherent physical connections with information exchange. Necessary and sufficient condition for synchronization of agents under distributed state feedback is established. A novel consensus region has been proposed, where synchronization region in complex networks together with consensus region in multi-agent systems are unified under this new framework. Furthermore, a procedure for the control gain is proposed based upon the modified algebraic Riccati inequality. The effectiveness of the results is illustrated both theoretically and numerically.