Consensus of high-order linear systems using dynamic output feedback compensator: Low gain approach

In this paper, we study the consensus (and synchronization) problem for multi-agent linear dynamic systems. All the agents have identical MIMO linear dynamics which can be of any order, and only the output information of each agents is delivered throughout the communication network. It is shown that consensus is reached if there exists a stable compensator which simultaneously stabilizes N − 1 systems in a special form, where N is the number of agents. We show that there exists such a compensator under a very general condition. Finally, the consensus value is characterized as a function of initial conditions with stable compensators in place.