Abstract
Ease of control of complex networks has been assessed extensively in terms of structural controllability and observability, and minimum control energy criteria. Here we adopt a sparsity-promoting feedback control framework for undirected networks with Laplacian dynamics and distinct topological features. The control objective considered is to minimize the effect of disturbance signals, magnitude of control signals and cost of feedback channels. We show that depending on the cost of feedback channels, different complex network structures become the least expensive option to control. Specifically, increased cost of feedback channels favors organized topological complexity such as modularity and centralization. Thus, although sparse and heterogeneous undirected networks may require larger numbers of actuators and sensors for structural controllability, networks with Laplacian dynamics are shown to be easier to control when accounting for the cost of feedback channels.