Lectures on Network Systems

Francesco Bullo Department of Mechanical Engineering Center for Control, Dynamical-Systems, and Computation University of California, Santa Barbara bullo at engineering.ucsb.edu Edition 1.3, Jul 1, 2019 316 pages and 157 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, xi + 288 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]

@Book{FB-LNS,
  author =    {F. Bullo},
  title =     {Lectures on Network Systems},
  year =      2019,
  edition =   1.3,
  publisher = {Kindle Direct Publishing},
  ISBN =      {978-1986425643},
  note =      {With contributions by J. Cortes, F. Dorfler, and S. Martinez},
  url =       {http://motion.me.ucsb.edu/book-lns},
}

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),

• keep the paperback publication costs to a minimum,

• 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.

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

• Nov 1, 2016: version .86

• Feb 11, 2017: version .95

  • new material: irreducible matrices in Def 2.10 and Thm4.2, iff conditions for consensus in Thm5.1, control design for clock sync in S5.4, spectral graph theory S4.5, Abelson model: in S7.1.1, second order Laplacian flow in S7.4, Vmax-min for row-stochastic in Thm11.8

  • new Chp13 on example nonlinear systems

  • new Chp14 with review of stability theory

  • new sections with “historical notes and further references” in all chapters

  • doi information in all articles

• Mar 26, 2017: figures posted and licensed under CC BY-SA 4.0

• Apr 23, 2017: bibliography file posted

• May 15, 2017: improvements in figures, exercises, and miscellaneous corrections (robotic exercises E1.5 and E2.20, example adjacency matrices Ex 4.1, trid Toepliz and circulant matrices E4.16 and E4.17, equal neighbor model S5.3.1, parallel averaging algorithm E5.9, revised E6.2 - E6.4, inductor/capacitors storage circuits E7.19, grounded Laplacians E9.10, accelerate consensus S10.5)

• Jan 1, 2018: version .96: miscellaneous typos, revised section on cuts and cycles S8.3, revised remark on physical flow systems R9.8, new exercises in Chapters 7, 8, and 9.

• May 1, 2018: version 1, revision 1.0: miscellaneous typos (e.g., heat equation), new list of examples and applications in section 1.6, some new figures (e.g., 3.8, 4.4, and 5.5), new symmetric Laplacian sections 6.3, removed formation control chapter and distributed optimization section, added index, reorganized control design examples and exercises.

• 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

Feedback

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