Sensitivity Function Trade-offs for Networks with a String Topology

Abstract

We present two sensitivity function trade-offs that apply to a class of networks with a string topology. In particular we show that a lower bound on the H-infinity norm and a Bode sensitivity relation hold for an entire family of sensitivity functions associated with growing the network. The trade-offs we identify are a direct consequence of growing the network, and can be used to explain why poorly regulated low frequency behaviours emerge in long vehicle platoons even when using dynamic feedback.