  Ensuring constraint satisfaction in large-scale systems with hard constraints
is vital in many safety critical systems. The challenge is to design
controllers that are efficiently synthesized offline, easily implementable
online, and provide formal correctness guarantees. In this paper, we provide a
method to compute correct-by-construction controllers for a network of coupled
linear systems with additive bounded disturbances such that i) the design of
the controllers is fully compositional - we use an optimization-based approach
that iteratively computes subsystem-level assume-guarantee contracts in the
form of robust control invariant sets; and ii) the controllers are
decentralized hence online implementation requires only the local state
information. We present illustrative examples, including a case study on a
system with 1000 dimensions.
