On Decentralized Stability Conditions Using Scaled Relative Graphs

Traditional centralized methods for stability analysis in linear multi-agent systems face significant challenges, including limited scalability, lack of modularity, and difficulties in distributed implementation. Various decentralized approaches have been developed to overcome these issues, such as passivity-based techniques and methods combining small gain and phase theorems. Although these approaches improve scalability, they often yield conservative results. In this letter, we introduce a novel set of decentralized stability conditions based on the Scaled Relative Graphs (SRG) framework, providing an efficient and effective tool for analyzing large-scale systems.