@article {678, title = {Cooperative Optimal Control for Multi-Agent Systems on Directed Graph Topologies}, journal = {IEEE Transactions on Automatic Control}, volume = {59}, year = {2014}, month = {03/2014}, pages = {769 - 774}, issn = {1558-2523}, doi = {10.1109/TAC.2013.2275670}, author = {Movric, Kristian Hengster and Lewis, Frank L.} }