!"#"$%&'()*"+
                       ,-$%&-(('.)()%/
            !"#$%"&'(")*"&+,-%"./"$)0/"*+"'#1/")*


                                     !"#$%&'()*+,,
   -./0&1($$(23"3*&4556&▪&.",7)(8#,&▪&49&:+;<)&4556
                 !""#$%%&'()*+',"'+!-./.012.(0




UNIVERSITÄT ROSTOCK
1    !"#"$%&'()*"+
                       ,-$%&-(('.)()%/
            !"#$%"&'(")*"&+,-%"./"$)0/"*+"'#1/")*


                                     !"#$%&'()*+,,
   -./0&1($$(23"3*&4556&▪&.",7)(8#,&▪&49&:+;<)&4556
                 !""#$%%&'()*+',"'+!-./.012.(0




UNIVERSITÄT ROSTOCK
1    !"#"$%&'()*"+
                       ,-$%&-(('.)()%/
        2 !"#$%"&'(")*"&+,-%"./"$)0/"*+"'#1/")*


                                     !"#$%&'()*+,,
   -./0&1($$(23"3*&4556&▪&.",7)(8#,&▪&49&:+;<)&4556
                 !""#$%%&'()*+',"'+!-./.012.(0




UNIVERSITÄT ROSTOCK
1    !"#"$%&'()*"+
                       ,-$%&-(('.)()%/
        2 !"#$%"&'(")*"&+,-%"./"$)0/"*+"'#1/")*
               3   !.,*"&'(")*2"$+*"*'/3/"(/*

                                     !"#$%&'()*+,,
   -./0&1($$(23"3*&4556&▪&.",7)(8#,&▪&49&:+;<)&4556
                 !""#$%%&'()*+',"'+!-./.012.(0




UNIVERSITÄT ROSTOCK
!"#$%"&&'()&)$*+,-$$)#./
= <#,>;+$"?#7

                     R       P

= 7"%>;"@3>#7

                P1       R       P2



                                      4
!"#$%"&&'()&)$*+,-$$)#./
= <#,>;+$"?#7

                     R            P

= 7"%>;"@3>#7

                P1         R             P2

 ! <((;7",+>#7&A;3,B>"*#&<((;7",+>"(,C
 ! 7#<#,>;+$"?#7&A@3"$7B>"*#&<((;7",+>"(,C
 ! +3>(,(*(3%&A,(&<((;7",+>"(,C               4
!"#$%"&&'()&)$*+,-$$)#./
= <#,>;+$"?#7 !

                     R            P

= 7"%>;"@3>#7

                P1         R             P2

 ! <((;7",+>#7&A;3,B>"*#&<((;7",+>"(,C
 ! 7#<#,>;+$"?#7&A@3"$7B>"*#&<((;7",+>"(,C
 ! +3>(,(*(3%&A,(&<((;7",+>"(,C               4
!"#$%"&&'()&)$*+,-$$)#./
= <#,>;+$"?#7 !

                     R            P

= 7"%>;"@3>#7

                P1         R             P2

 ! <((;7",+>#7&A;3,B>"*#&<((;7",+>"(,C !
 ! 7#<#,>;+$"?#7&A@3"$7B>"*#&<((;7",+>"(,C
 ! +3>(,(*(3%&A,(&<((;7",+>"(,C               4
!"#$%"&&'()&)$*+,-$$)#./
= <#,>;+$"?#7 !

                     R            P

= 7"%>;"@3>#7

                P1         R             P2

 ! <((;7",+>#7&A;3,B>"*#&<((;7",+>"(,C !
 ! 7#<#,>;+$"?#7&A@3"$7B>"*#&<((;7",+>"(,C
 ! +3>(,(*(3%&A,(&<((;7",+>"(,C !             4
0-1-#$%'&)2-3+!"#$%"&&'()&)$*
= D"8#,&+&0"&1)#"2E">)&3-&%0


           P1                  R             P2


= E#&%#+;<)&F(;&%43("02(F&0"&1)#"02A(,#&F(;&#+<)&G(;>C&%3<)&
  >)+>&>)#&<(*G(%">"(,&"%&#-53'%).("




"&%#;8"<#%&+;#&<((;7",+>#7&+>&@3"$7B>"*#
                                                               9
0-1-#$%'&)2-3+!"#$%"&&'()&)$*
= D"8#,&+&0"&1)#"2E">)&3-&%0


           P1                  R             P2


= E#&%#+;<)&F(;&%43("02(F&0"&1)#"02A(,#&F(;&#+<)&G(;>C&%3<)&
  >)+>&>)#&<(*G(%">"(,&"%&#-53'%).("

[ P1 ,     P2    ] [ P3 ,          P4   ] [ P1 ,      P4   ]
"&%#;8"<#%&+;#&<((;7",+>#7&+>&@3"$7B>"*#
                                                               9
0-1-#$%'&)2-3+!"#$%"&&'()&)$*
= D"8#,&+&0"&1)#"2E">)&3-&%0


           P1                  R             P2


= E#&%#+;<)&F(;&%43("02(F&0"&1)#"02A(,#&F(;&#+<)&G(;>C&%3<)&
  >)+>&>)#&<(*G(%">"(,&"%&#-53'%).("

[ P1 ,     P2    ] [ P3 ,          P4   ] [ P1 ,      P4   ]
"&%#;8"<#%&+;#&<((;7",+>#7&+>&@3"$7B>"*#
                                                               9
455&)1'$)"#+67+43'5$-%/
= D"8#,I&",<(*G+>"@$#&%#;8"<#%J&>;+,%F(;*+>"(,&;3$#%


                             C



              R              T              P

6 %&'$07-&5'%)-$2&4("0&K&#-$%&-(("&2L&'+'3%"&


"&+7+G>#;&%M,>)#%"%&L&<#,>;+$"?#7&<(,>;($$+@"$">M      H
455&)1'$)"#+67+43'5$-%/
= D"8#,I&",<(*G+>"@$#&%#;8"<#%J&>;+,%F(;*+>"(,&;3$#%


                             C



              R              T              P

6 %&'$07-&5'%)-$2&4("0&K&#-$%&-(("&2L&'+'3%"&


"&+7+G>#;&%M,>)#%"%&L&<#,>;+$"?#7&<(,>;($$+@"$">M      H
455&)1'$)"#+67+43'5$-%/
= D"8#,I&",<(*G+>"@$#&%#;8"<#%J&>;+,%F(;*+>"(,&;3$#%


                             C



              R              T              P

6 %&'$07-&5'%)-$2&4("0&K&#-$%&-(("&2L&'+'3%"&


"&+7+G>#;&%M,>)#%"%&L&<#,>;+$"?#7&<(,>;($$+@"$">M      H
455&)1'$)"#+67+43'5$-%/
= D"8#,I&",<(*G+>"@$#&%#;8"<#%J&>;+,%F(;*+>"(,&;3$#%


                             C



              R              T              P

6 %&'$07-&5'%)-$2&4("0&K&#-$%&-(("&2L&'+'3%"&


"&+7+G>#;&%M,>)#%"%&L&<#,>;+$"?#7&<(,>;($$+@"$">M      H
455&)1'$)"#+67+43'5$-%/
= D(+$I&O,7&+7+G>+@$#&%#;8"<#%&F(;&+&D"8#,&0"&1)#"
= >)#;#&+;#&>E(&P(G#,P&G(;>%I




= E">)&7#<#,>;+$"?#7&<(,>;($$+@"$">MJ&E#&O,7&>3G$#%&(F&
  <(,>;($$#;%&+,7&G;(8"7#;&%#;8"<#%




                                                          N
"&P<$(%3;#P&(G#;+>(;&F(;&%#;8"<#&;#G(%">(;"#%
455&)1'$)"#+67+43'5$-%/
= D(+$I&O,7&+7+G>+@$#&%#;8"<#%&F(;&+&D"8#,&0"&1)#"
= >)#;#&+;#&>E(&P(G#,P&G(;>%I


                    R                T

= E">)&7#<#,>;+$"?#7&<(,>;($$+@"$">MJ&E#&O,7&>3G$#%&(F&
  <(,>;($$#;%&+,7&G;(8"7#;&%#;8"<#%




                                                          N
"&P<$(%3;#P&(G#;+>(;&F(;&%#;8"<#&;#G(%">(;"#%
455&)1'$)"#+67+43'5$-%/
= D(+$I&O,7&+7+G>+@$#&%#;8"<#%&F(;&+&D"8#,&0"&1)#"
= >)#;#&+;#&>E(&P(G#,P&G(;>%I


                    R                T




                                                     N
455&)1'$)"#+67+43'5$-%/
= D(+$I&O,7&+7+G>+@$#&%#;8"<#%&F(;&+&D"8#,&0"&1)#"
= >)#;#&+;#&>E(&P(G#,P&G(;>%I


                    R                T

= E">)&7#<#,>;+$"?#7&<(,>;($$+@"$">MJ&E#&O,7&>3G$#%&(F&
  <(,>;($$#;%&+,7&G;(8"7#;&%#;8"<#%


          [ C1 ,      P1    ] [ C2 ,        P2   ]
                                                          N
455&)1'$)"#+67+43'5$-%/
= D(+$I&O,7&+7+G>+@$#&%#;8"<#%&F(;&+&D"8#,&0"&1)#"
= >)#;#&+;#&>E(&P(G#,P&G(;>%I


                    R                T

= E">)&7#<#,>;+$"?#7&<(,>;($$+@"$">MJ&E#&O,7&>3G$#%&(F&
  <(,>;($$#;%&+,7&G;(8"7#;&%#;8"<#%


          [ C1 ,      P1    ] [ C2 ,        P2   ]
                                                          N
"&P<$(%3;#P&(G#;+>(;&F(;&%#;8"<#&;#G(%">(;"#%
455&)1'$)"#+87+!9"%-".%'59*+:-'&)2'()&)$*
= D"8#,I&#,7G(",>%&+,7&+,&)$%"&'#%)-$23&-%-#-(


              E1             E2             E3


= R#+$"?+@"$">MI&1+,&>)"%&",>#;+<>"(,&G;(>(<($&@#&
  "*G$#*#,>#7&@M&0"&1)#"0S




= +$$(E%&F(;&<(,>;+<>B@MB7#%"D,&%<#,+;"(%            Q
455&)1'$)"#+87+!9"%-".%'59*+:-'&)2'()&)$*
= D"8#,I&#,7G(",>%&+,7&+,&)$%"&'#%)-$23&-%-#-(


              E1             E2             E3


= R#+$"?+@"$">MI&1+,&>)"%&",>#;+<>"(,&G;(>(<($&@#&
  "*G$#*#,>#7&@M&0"&1)#"0S

              S1             S2             S3

= +$$(E%&F(;&<(,>;+<>B@MB7#%"D,&%<#,+;"(%            Q
455&)1'$)"#+87+!9"%-".%'59*+:-'&)2'()&)$*
= +%%3*#&+&*(,">(;&>)+>&$(D%&>)#&",>#;+<>"(,%


              E1             E2             E3



= ;#*#*@#;&G(;>%S




"&;#+$"?+@"$">M&L&7#<#,>;+$"?#7&<(,>;($$+@"$">M   T
455&)1'$)"#+87+!9"%-".%'59*+:-'&)2'()&)$*
= +%%3*#&+&*(,">(;&>)+>&$(D%&>)#&",>#;+<>"(,%


              E1             E2             E3

                              M
= ;#*#*@#;&G(;>%S




"&;#+$"?+@"$">M&L&7#<#,>;+$"?#7&<(,>;($$+@"$">M   T
455&)1'$)"#+87+!9"%-".%'59*+:-'&)2'()&)$*
= +%%3*#&+&*(,">(;&>)+>&$(D%&>)#&",>#;+<>"(,%


              E1             E2             E3

                              M
= ;#*#*@#;&G(;>%S

                              M

"&;#+$"?+@"$">M&L&7#<#,>;+$"?#7&<(,>;($$+@"$">M   T
4&."%)$9;
= (@%#;8+>"(,I&<(*G(%">"(,&(F&7#<#,>;+$"?#7&<(,>;($$#;%&"%&+&
  <#,>;+$"?#7&<(,>;($$#;




                                                            U
4&."%)$9;
= (@%#;8+>"(,I&<(*G(%">"(,&(F&7#<#,>;+$"?#7&<(,>;($$#;%&"%&+&
  <#,>;+$"?#7&<(,>;($$#;


= +$D(;">)*I
  VW %>+;>&E">)&*(%>BG#;*"%%"8#&<#,>;+$"?#7&<(,>;($$#;
  4W ;#*(8#&P3,B7#<#,>;+$"?+@$#P&G+;>%
  9W G;(X#<>&;#%3$>&>(&G(;>%




                                                            U
4&."%)$9;
= (@%#;8+>"(,I&<(*G(%">"(,&(F&7#<#,>;+$"?#7&<(,>;($$#;%&"%&+&
  <#,>;+$"?#7&<(,>;($$#;


= +$D(;">)*I
  VW %>+;>&E">)&*(%>BG#;*"%%"8#&<#,>;+$"?#7&<(,>;($$#;
  4W ;#*(8#&P3,B7#<#,>;+$"?+@$#P&G+;>%
  9W G;(X#<>&;#%3$>&>(&G(;>%



= E(;Y%&F(;&+<M<$"<&%#;8"<#%&Z&>#;*",+>"(,&,(>&D3+;+,>##7&",&
  F(;&<M<$"<&%#;8"<#%
                                                            U
<=';5&-+6
= ",&+&G#;F#<>&E(;$7J&E#&X3%>&,##7&>(&G;(X#<>&>)#
  <#,>;+$"?#7&<(,>;($$#;



 A


                B
           !



                                                    6
<=';5&-+6
= ",&+&G#;F#<>&E(;$7J&E#&X3%>&,##7&>(&G;(X#<>&>)#
  <#,>;+$"?#7&<(,>;($$#;



 A
                           !A       !B


                B          !B       !A

           !           centralized controller




                                                    6
<=';5&-+6
= ",&+&G#;F#<>&E(;$7J&E#&X3%>&,##7&>(&G;(X#<>&>)#
  <#,>;+$"?#7&<(,>;($$#;
                                                !A        !B

                                                     projections
 A
                           !A       !B


                B          !B       !A

           !           centralized controller




                                                                   6
<=';5&-+6
= ",&+&G#;F#<>&E(;$7J&E#&X3%>&,##7&>(&G;(X#<>&>)#
  <#,>;+$"?#7&<(,>;($$#;
                                                !A         !B

                                                      projections
 A
                           !A       !B


                B          !B       !A
                                                     !A     !B
           !           centralized controller

                                                     !B     !A

                                                 composition of
                                                 the projections    6
<=';5&-+6
= ",&+&G#;F#<>&E(;$7J&E#&X3%>&,##7&>(&G;(X#<>&>)#
  <#,>;+$"?#7&<(,>;($$#;
                                                !A         !B

                                                      projections
 A
                           !A       !B


                B          !B       !A
                                                     !A     !B
           !           centralized controller

                                                     !B     !A

                                                 composition of
                                                                 !
                                                 the projections    6
<=';5&-
= [&@3>&>)#&E(;$7&"%&,(>&+$E+M%&G#;F#<>



A                 B
           !




                                          V5
<=';5&-
= [&@3>&>)#&E(;$7&"%&,(>&+$E+M%&G#;F#<>



A                 B         !A       !B

           !           centralized controller




                                                V5
<=';5&-
= [&@3>&>)#&E(;$7&"%&,(>&+$E+M%&G#;F#<>



A                 B         !A       !B         !A          !B

           !           centralized controller        projections




                                                                   V5
<=';5&-
= [&@3>&>)#&E(;$7&"%&,(>&+$E+M%&G#;F#<>



A                 B         !A       !B                 !A          !B

           !           centralized controller                projections




                                           !A      !B


                                           !B      !A

                                   composition of projections
                                                                           V5
<=';5&-
= [&@3>&>)#&E(;$7&"%&,(>&+$E+M%&G#;F#<>



A                 B         !A       !B                 !A          !B

           !           centralized controller                projections




                                           !A      !B


                                           !B      !A
                                                      #
                                   composition of projections
                                                                           V5
0-5-#3-#1*+67+<#'(&)#.
= +,&+<>"(,&(F&(,#&G(;>&*3%>&,(>&"$'.("2+,&+<>"(,&(F&
  +,(>)#;&G(;>



           A


                             B
                    !


                                                        VV
0-5-#3-#1*+67+<#'(&)#.
= +,&+<>"(,&(F&(,#&G(;>&*3%>&,(>&"$'.("2+,&+<>"(,&(F&
  +,(>)#;&G(;>



           A


                             B
                    !


= ;"D)>&G+;>,#;&<+,,(>&Y,(E&E)#,&>(&%#,7&8              VV
0-5-#3-#1*+67+<#'(&)#.
= +,&+<>"(,&(F&(,#&G(;>&*3%>&,(>&"$'.("2+,&+<>"(,&(F&
  +,(>)#;&G(;>



           A
                                            ?A

                             B               !B

                    !
                                       centralized controller



= ;"D)>&G+;>,#;&<+,,(>&Y,(E&E)#,&>(&%#,7&8                      VV
0-5-#3-#1*+67+<#'(&)#.
= +,&+<>"(,&(F&(,#&G(;>&*3%>&,(>&"$'.("2+,&+<>"(,&(F&
  +,(>)#;&G(;>



           A
                                            ?A

                             B               !B

                    !                          #
                                       centralized controller



= ;"D)>&G+;>,#;&<+,,(>&Y,(E&E)#,&>(&%#,7&8                      VV
0-5-#3-#1*+67+<#'(&)#.
= +,&+<>"(,&(F&(,#&G(;>&*3%>&,(>&"$'.("2+,&+<>"(,&(F&
  +,(>)#;&G(;>



           A
                                            ?A
                                              #
                             B               !B

                    !                         #
                                       centralized controller



= ;"D)>&G+;>,#;&<+,,(>&Y,(E&E)#,&>(&%#,7&8                      VV
0-5-#3-#1*+67+<#'(&)#.
= +,&+<>"(,&(F&(,#&G(;>&*3%>&,(>&"$'.("2+,&+<>"(,&(F&
  +,(>)#;&G(;>



           A                                 #
                                            ?A
                                             #
                             B              !B

                    !                        #
                                       centralized controller



= ;"D)>&G+;>,#;&<+,,(>&Y,(E&E)#,&>(&%#,7&8                      VV
0-5-#3-#1*+87+0)/'(&)#.
= +,&+<>"(,&(F&(,#&G(;>&*3%>&,(>&+)0'.("2+,&+<>"(,&(F&
  +,(>)#;&G(;>




 A                 B
            !




                                                         V4
0-5-#3-#1*+87+0)/'(&)#.
= +,&+<>"(,&(F&(,#&G(;>&*3%>&,(>&+)0'.("2+,&+<>"(,&(F&
  +,(>)#;&G(;>




 A                 B
            !




= G+;>,#;%&,##7&>(&@#&<((;7",+>#7                        V4
0-5-#3-#1*+87+0)/'(&)#.
= +,&+<>"(,&(F&(,#&G(;>&*3%>&,(>&+)0'.("2+,&+<>"(,&(F&
  +,(>)#;&G(;>




 A                 B            !A       !B

            !
                           centralized controller




= G+;>,#;%&,##7&>(&@#&<((;7",+>#7                        V4
0-5-#3-#1*+87+0)/'(&)#.
= +,&+<>"(,&(F&(,#&G(;>&*3%>&,(>&+)0'.("2+,&+<>"(,&(F&
  +,(>)#;&G(;>




 A                 B            !A       !B

            !                         #
                           centralized controller




= G+;>,#;%&,##7&>(&@#&<((;7",+>#7                        V4
0-5-#3-#1*+87+0)/'(&)#.
= +,&+<>"(,&(F&(,#&G(;>&*3%>&,(>&+)0'.("2+,&+<>"(,&(F&
  +,(>)#;&G(;>


                                                    !A

 A                 B            !A       !B

            !                         #
                           centralized controller




= G+;>,#;%&,##7&>(&@#&<((;7",+>#7                        V4
0-5-#3-#1*+87+0)/'(&)#.
= +,&+<>"(,&(F&(,#&G(;>&*3%>&,(>&+)0'.("2+,&+<>"(,&(F&
  +,(>)#;&G(;>


                                                    !A

 A                 B            !A       !B

            !
                           centralized controller




= G+;>,#;%&,##7&>(&@#&<((;7",+>#7                        V4
0-5-#3-#1*+87+0)/'(&)#.
= +,&+<>"(,&(F&(,#&G(;>&*3%>&,(>&+)0'.("2+,&+<>"(,&(F&
  +,(>)#;&G(;>


                                                    !A

 A                 B            !A       !B

            !                   #
                           centralized controller




= G+;>,#;%&,##7&>(&@#&<((;7",+>#7                        V4
0-5-#3-#1*+87+0)/'(&)#.
= +,&+<>"(,&(F&(,#&G(;>&*3%>&,(>&+)0'.("2+,&+<>"(,&(F&
  +,(>)#;&G(;>


                                                    !A

 A                 B            !A       !B

            !                   #
                           centralized controller
                                                    !B



= G+;>,#;%&,##7&>(&@#&<((;7",+>#7                        V4
0-5-#3-#1*+>7+?"#@-AB)C'&-#1-
= %>+>#%&;#+<)+@$#&@M&982+,7&892*3%>&@#&#23"8+$#,>




    A               B




                    C
              !

                                                     V9
0-5-#3-#1*+>7+?"#@-AB)C'&-#1-
= %>+>#%&;#+<)+@$#&@M&982+,7&892*3%>&@#&#23"8+$#,>




    A                B




                     C
               !

= >)#&(;7#;&(F&9&+,7&82<+,,(>&@#&(@%#;8#7&@M&>)#&G+;>,#;% V9
0-5-#3-#1*+>7+?"#@-AB)C'&-#1-
= %>+>#%&;#+<)+@$#&@M&982+,7&892*3%>&@#&#23"8+$#,>



                                          A           B
    A                B
                                      B           A       C

                                              C               A
                     C
                                     centralized controller
               !

= >)#&(;7#;&(F&9&+,7&82<+,,(>&@#&(@%#;8#7&@M&>)#&G+;>,#;% V9
0-5-#3-#1*+>7+?"#@-AB)C'&-#1-
= %>+>#%&;#+<)+@$#&@M&982+,7&892*3%>&@#&#23"8+$#,>



                                            A         B
    A                B
                                        B        A         C

                                   $ $C
                               not equivalent                   A
                     C
                                       centralized controller
               !

= >)#&(;7#;&(F&9&+,7&82<+,,(>&@#&(@%#;8#7&@M&>)#&G+;>,#;% V9
0-5-#3-#1*+>7+?"#@-AB)C'&-#1-
= %>+>#%&;#+<)+@$#&@M&982+,7&892*3%>&@#&#23"8+$#,>



                                            A         B
    A                B
                                        B        A         C

                                   $ $C
                               not equivalent                   A
                     C                #
                                       centralized controller
               !

= >)#&(;7#;&(F&9&+,7&82<+,,(>&@#&(@%#;8#7&@M&>)#&G+;>,#;% V9
0-5-#3-#1*+>7+?"#@-AB)C'&-#1-
= %>+>#%&;#+<)+@$#&@M&982+,7&892*3%>&@#&#23"8+$#,>



                                            A         B
    A                B
                                        B        A         C
                                      #
                                   $ $C
                               not equivalent                   A
                     C                #
                                       centralized controller
               !

= >)#&(;7#;&(F&9&+,7&82<+,,(>&@#&(@%#;8#7&@M&>)#&G+;>,#;% V9
0-5-#3-#1*+>7+?"#@-AB)C'&-#1-
= %>+>#%&;#+<)+@$#&@M&982+,7&892*3%>&@#&#23"8+$#,>



                                            A         B
    A                B
                                        B        A         C
                                      #
                                   $ $C
                               not equivalent                   A
                     C                #                   #
                                       centralized controller
               !

= >)#&(;7#;&(F&9&+,7&82<+,,(>&@#&(@%#;8#7&@M&>)#&G+;>,#;% V9
0-5-#3-#1*+>7+?"#@-AB)C'&-#1-
= %>+>#%&;#+<)+@$#&@M&982+,7&892*3%>&@#&#23"8+$#,>



                                            A         B
    A                B
                                        B        A         C
                                      #
                                   $ $C                   #
                               not equivalent               A
                     C                #                   #
                                       centralized controller
               !

= >)#&(;7#;&(F&9&+,7&82<+,,(>&@#&(@%#;8#7&@M&>)#&G+;>,#;% V9
0-5-#3-#1*+>7+?"#@-AB)C'&-#1-
= %>+>#%&;#+<)+@$#&@M&982+,7&892*3%>&@#&#23"8+$#,>



                                           A          B
    A                B
                                        A
                                          # C
                                    B
                                      # #
                                   $ $C
                               not equivalent A
                     C                # #
                                       centralized controller
               !

= >)#&(;7#;&(F&9&+,7&82<+,,(>&@#&(@%#;8#7&@M&>)#&G+;>,#;% V9
0-5-#3-#1*+>7+?"#@-AB)C'&-#1-
= %>+>#%&;#+<)+@$#&@M&982+,7&892*3%>&@#&#23"8+$#,>



                                           A          B
    A                B
                                        A
                                          # C
                                    B
                                    ## #
                                   $ $C
                               not equivalent A
                     C                # #
                                       centralized controller
               !

= >)#&(;7#;&(F&9&+,7&82<+,,(>&@#&(@%#;8#7&@M&>)#&G+;>,#;% V9
0-5-#3-#1*+>7+?"#@-AB)C'&-#1-
= %>+>#%&;#+<)+@$#&@M&982+,7&892*3%>&@#&#23"8+$#,>



                                           A          B
    A                B
                                    # A# C
                                    B
                                    ## #
                                   $ $C    A
                               not equivalent
                     C                # #
                                       centralized controller
               !

= >)#&(;7#;&(F&9&+,7&82<+,,(>&@#&(@%#;8#7&@M&>)#&G+;>,#;% V9
0-5-#3-#1*+>7+?"#@-AB)C'&-#1-
= %>+>#%&;#+<)+@$#&@M&982+,7&892*3%>&@#&#23"8+$#,>


                                                #
                                           A          B
    A                B
                                    # A# C
                                    B
                                    ## #
                                   $ $C    A
                               not equivalent
                     C                # #
                                       centralized controller
               !

= >)#&(;7#;&(F&9&+,7&82<+,,(>&@#&(@%#;8#7&@M&>)#&G+;>,#;% V9
D%"(&-;/+E)$9+!*1&)1+,-%C)1-/
 = ",&<M<$#%J&7#$#>"(,&*"D)>&
   ,(>&@#&+,&(G>"(,




          A disables B
          B disables A

    A   B




                                VH
D%"(&-;/+E)$9+!*1&)1+,-%C)1-/
 = ",&<M<$#%J&7#$#>"(,&*"D)>&
   ,(>&@#&+,&(G>"(,
 = 7#<"%"(,%&)+8#&>(&@#&
   <((;7",+>#7&+D+",&+,7&
   +D+",

          A disables B
          B disables A

    A   B




                                VH
D%"(&-;/+E)$9+!*1&)1+,-%C)1-/
 = ",&<M<$#%J&7#$#>"(,&*"D)>&
   ,(>&@#&+,&(G>"(,
 = 7#<"%"(,%&)+8#&>(&@#&
   <((;7",+>#7&+D+",&+,7&
   +D+",
 "&B+;<%
          A disables B
          B disables A

    A   B           χ    χ

                   A     B

                                VH
D%"(&-;/+E)$9+!*1&)1+,-%C)1-/
 = ",&<M<$#%J&7#$#>"(,&*"D)>& = %>+>#%&*+M&)+8#&*(;#&
   ,(>&@#&+,&(G>"(,             >)+,&(,#&G;#7#<#%%(;
 = 7#<"%"(,%&)+8#&>(&@#&
   <((;7",+>#7&+D+",&+,7&
   +D+",                              A enables C
                                     B disables A
 "&B+;<%
         A disables B         A    B
         B disables A

    A   B          χ    χ     B    C

                  A     B

                                                        VH
D%"(&-;/+E)$9+!*1&)1+,-%C)1-/
 = ",&<M<$#%J&7#$#>"(,&*"D)>& = %>+>#%&*+M&)+8#&*(;#&
   ,(>&@#&+,&(G>"(,             >)+,&(,#&G;#7#<#%%(;
 = 7#<"%"(,%&)+8#&>(&@#&      "&%G$">]<(GM&%>+>#%&@#F(;#&
   <((;7",+>#7&+D+",&+,7&       &>+Y",D&+,&+<>"(,
   +D+",                              A enables C
                                      B disables A
 "&B+;<%
         A disables B           A   B
         B disables A

    A   B          χ    χ       B   C

                  A     B

                                                            VH
D%"(&-;/+E)$9+!*1&)1+,-%C)1-/
 = ",&<M<$#%J&7#$#>"(,&*"D)>& = %>+>#%&*+M&)+8#&*(;#&
   ,(>&@#&+,&(G>"(,             >)+,&(,#&G;#7#<#%%(;
 = 7#<"%"(,%&)+8#&>(&@#&      "&%G$">]<(GM&%>+>#%&@#F(;#&
   <((;7",+>#7&+D+",&+,7&       &>+Y",D&+,&+<>"(,
   +D+",                              A enables C
                                      B disables A
 "&B+;<%
                                A B              χ χ
         A disables B
         B disables A

    A   B          χ    χ       B   C       A         B
                                                  B
                  A     B                     B       C

                                                            VH
F%'5+B5
= 7"%>;"@3>#7&<(,>;($$+@"$">M&)+%&,"<#&+GG$"<+>"(,%I
  ! +7+G>+@"$">M
  ! ;#+$"?+@"$">M&(F&<)(;#(D;+G)"#%

= @3"$7B>"*#&<((;7",+>"(,&*+Y#%&E(;$7&<(*G$"<+>#7


= <3;;#,>&+$D(;">)*&*+M&,(>&>#;*",+>#




                                                       VN
F%'5+B5
= 7"%>;"@3>#7&<(,>;($$+@"$">M&)+%&,"<#&+GG$"<+>"(,%I
  ! +7+G>+@"$">M
  ! ;#+$"?+@"$">M&(F&<)(;#(D;+G)"#%

= @3"$7B>"*#&<((;7",+>"(,&*+Y#%&E(;$7&<(*G$"<+>#7


= <3;;#,>&+$D(;">)*&*+M&,(>&>#;*",+>#



                                    Thank you!
                                   Any questions?
                                                       VN

Decentralized Controllability