Multiplex PI control for consensus in networks of heterogeneous linear agents

In this paper, we propose a multiplex proportional-integral approach, for solving consensus problems in networks of heterogeneous nodes dynamics affected by constant disturbances. The proportional and integral actions are deployed on two different layers across the network, each with its own topology. Sufficient conditions for convergence are derived that depend upon the structure of the network, the parameters and topologies characterizing the control layers and the node dynamics. The effectiveness of the theoretical results is illustrated numerically on a set of representative examples including a power network model.