Scalability in Nonlinear Network Systems Affected by Delays and Disturbances

This article is concerned with the study of scalability in nonlinear heterogeneous networks affected by communication delays and disturbances. After formalizing notion scalability, we give two sufficient conditions to assess this property. Our results can be used leader-follower leaderless allow us consider case when desired configuration system changes over time. We show how our turned into design guidelines guarantee illustrate their effectiveness via numerical examples.