Zeros of networks of linear multi-agent systems: Time-invariant interconnections

This paper investigates the zero properties of networks of linear multi-agent control systems, where the coupling parameters between the agents are assumed to be constant. We characterize the zeros both for heterogeneous and homogeneous networks. Moreover, for homogenous networks with time-invariant interconnection dynamics and SISO agents, we illustrate how zeros of each individual agent and zeros of interconnection dynamics contribute to the zero properties of the whole network. We also investigate the effects of blocking on the zeros.