A graph-theoretic algorithm for hierarchical decomposition of dynamic systems with applications to estimation and control

A graph-theoretic scheme is proposed for the partitioning of dynamic systems into hierarchically ordered subsystems having independent inputs and outputs. The resulting subsystems are input-output reachable as well as structurally controllable and observable, so that a `piece-by-piece´ design of estimators and controllers can be accomplished for systems with large dimensions without excessive computer requirements.