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By using a structural analysis based on a digraph representation, the conditions are examined for the existence of structural controllability and observability in decentralised control systems. These are related to the existence of structurally fixed modes in a system with two control stations. A generalisation to the case of N control stations is given in Part 2 of this paper.
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http://iet.metastore.ingenta.com/content/journals/10.1049/ip-d.1983.0052
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