Lectures on Network Systems

Francesco Bullo Department of Mechanical Engineering Center for Control, Dynamical-Systems, and Computation University of California, Santa Barbara bullo at ucsb.edu Edition 1.6, Jan 1, 2022 346 pages and 185 exercises Kindle Direct Publishing ISBN 978-1-986425-64-3

Book versions and purchase/download information

The book may be purchased or downloaded in the following versions:

• printed paperback version [Amazon link], published by Kindle Direct Publishing (7inx10in, gray-scale, xii + 346 pages), ISBN 978-1-986425-64-3

• tablet version [PDF file], optimized for viewing on tablets (3x4 aspect ratio, color), freely downloadable from the book website

• three versions/documents meant for instructors and classroom teaching:

  • slide version [PDF file], that is, an abbreviated version suited for displaying on a classroom projector

  • classroom markup version [PDF file], that is, an abbreviated version (lettersize, with large sans-serif fonts, small margins), meant as markup copy for classroom teaching (i.e., print, mark, teach, discard)

  • a solution manual (PDF format) for instructors at accredited institutions planning to use this book for a course. The manual is freely available upon request (would you please let me know what course you plan to use the text for?).

Additionally, the following documents are downloadable:

• Almost all book figures, available with a Creative Commons Attribution-ShareAlike 4.0 International License (CC BY-SA 4.0): [tgz file]

• All bibliographical entries: [bibtex file]

Translations

A translation into Vietnamese by Trịnh Hoàng Minh and Đoàn Tuấn Kiệt (version 1.6, October 16, 2022) is available here [PDF file].

Citation information

@Book{FB-LNS,
  author =    {F. Bullo},
  title =     {Lectures on Network Systems},
  year =      2022,
  edition =   {{1.6}},
  publisher = {Kindle Direct Publishing},
  ISBN =      {978-1986425643},
  url =       {http://motion.me.ucsb.edu/book-lns},
}

Short Slide Deck

An abbreviated version of the material in the first 10 chapters is available here: [PDF file]

Python 3 Jupyter Notebook

The following Jupyter Notebooks in Python 3 contain numerous examples, visualization and supplements accompanying the lecture notes. The notebooks require a Python installation with the following required packages:

Python==3.8.11
numpy==1.20.3
matplotlib==3.4.2
networkx==2.6.3
scipy==1.7.1
sympy==1.6.2
ipykernel==6.4.1
ipython==7.27.0
ipython_genutils==0.2.0
ipywidgets==7.6.5
ipympl==0.7.0

The notebooks are also available on binders where they can be run without installing any software.

The notebooks were prepared by Erik Suer, while taking my UCSB course ME/ECE 269 “Network Systems”, during Fall 2021. They are released under the MIT License.

Copyright information

This book is intended for personal non-commercial use only: you may not use this material for commercial purposes and you may not copy and redistribute this material in any medium or format.

Why I decided to self-publish a print-on-demand book

There are several reasons why I decided to self-publish this book via the print-on-demand service by Kindle Direct Publishing (former Amazon CreateSpace). I appreciate the ability to:

• retain the full copyrights of all the material,

• make the document freely available online in multiple versions (see above),

• retain direct anytime control over the paperback publication costs, retain a majority of the royalties after low fix costs, and set a low price,

• update the book revision at any time (simply re-upload the PDF file, minimal turn-around time, no need for any permission, and never out-of-print), and

• make available a high-quality paperback book through a broad distribution network.

As a combination of this flexibility, I typically polish and enrich the book every time I teach the course.

Similar arguments are presented in the write-up Why I Self-Publish My Mathematics Texts With Amazon by Robert Ghrist

History

• Jun 1, 2016: version .85 posted online

• May 1, 2018: version 1, revision 1.0

• Jan 1, 2019: version 1, revision 1.2: Since the first edition on May 1, 2018, I have corrected several typos and inconsistencies, redrawn a few figures, added assumptions missing in a few theorems, corrected an incomplete proof, added a few new exercises, removed an inaccurate exercise, and polished a few old exercises.

• Jul 1, 2019: version 1, revision 1.3: new chapter on diffusively-coupled linear systems, polished Section 6.4, polished Section 7.1.1, rewritten Section 7.4, rewritten Section 5.1

• Jul 1, 2020: version 1, revision 1.4: extensive revisions on examples in Chapter 1, sharper bounds and monotonicity properties of the spectral radius of non-negative matrices, various improvements in each of the first ten chapters.

• Sep 1, 2021: version 1, revision 1.5: several typos and several new exercises.

• Jan 1, 2022: version 1, revision 1.6: new sections on ergodicity coefficients, Metzler Hurwitz matrices, and interconnected stable systems. Numerous new exercises, additional; historical information, and new programming examples in python.

Feedback

I am thankful for any feedback information, including suggestions, evaluations, error descriptions, or comments about teaching or research uses. Please email bullo at ucsb.edu