Stability of an overlapping decentralized controller

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This paper presents design criteria of an overlapping decentralized controller by investigating the controllability and closed loop stability of the expanded system. To determine the criteria we classify the overlapping decentralized controller into an overlapping expanded controller and a contractible controller. It is shown that conditions of system expansion to design these controllers are differently used. The overlapping expanded controller needs the aggregation conditions due to the importance of a structure of the expanded system. The contractible controller which intends to use in the original space needs the restriction because of stability of the original system.