# Robust Output Feedback Consensus for Networked Identical Nonlinear Negative-Imaginary Systems

arXiv: https://arxiv.org/abs/2005.11492 · HTML: https://mlsanity.com/paper/2005.11492/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 23 May 2020.

## Built on by (most cited first, 1 of 1)

- [Negative Imaginary Neural ODEs: Learning to Control Mechanical Systems with Stability Guarantees](https://mlsanity.com/paper/2504.19497/) (2025)

## Abstract (arXiv)

A robust output feedback consensus problem for networked identical nonlinear negative-imaginary (NI) systems is investigated in this paper. Output consensus is achieved by applying identical linear output strictly negative-imaginary (OSNI) controllers to all the nonlinear NI plants in positive feedback through the network topology. First, we extend the definition of nonlinear NI systems from single-input single-output (SISO) systems to multiple-input multiple-output (MIMO) systems and also extend the definition of OSNI systems to nonlinear scenarios. Asymptotic stability is proved for the closed-loop interconnection of a nonlinear NI system and a nonlinear OSNI system under reasonable assumptions. Then, an NI property and an OSNI-like property are proved for networked identical nonlinear NI systems and networked identical linear OSNI systems, respectively. Output feedback consensus is proved for a network of identical nonlinear NI plants by investigating the stability of its closed-loop interconnection with a network of linear OSNI controllers. This closed-loop interconnection is proposed as a protocol to deal with the output consensus problem for networked identical nonlinear NI systems and is robust against uncertainty in the individual system's model.