Incremental coordination in collaborative networks

We developed an incremental coordination technique for collaborative networks based on necessary and sufficient coordinability conditions that we proposed earlier for locally controlled hierarchies of dynamic systems. Efficiency of the technique is illustrated by mathematical modelling of a two-level control system for a network of linear objects. The modelling has proved that usage of local control and coordination widens the stability range of the system for both external and structural disturbances as well as increases its speed by several times. First, we describe a modelling shell suitable for monitoring and predicting behaviour of network objects. Then we propose a gradient method to coordinate locally controlled networks.