摘要：AbstractStructural controllability of a linear dynamical network made up of interconnected homogeneous subsystems is examined. Subsystem- and network- level structural controllability are shown to be necessary but not sufficient for structural controllability of the full model. It is shown that the presence of certain high-multiplicity structural modes, which we call structural network-invariant modes, are barriers to structural controllability. An equivalence between structural network-invariant modes and the classical notion of a structural decentralized fixed mode is obtained, which allows testing and characterization of structural controllability.
