Low order controllers for output synchronization of linear heterogeneous SISO agents

This paper considers the output synchronization problem for linear heterogeneous SISO agents. The goal is not only to synchronize the agents to a given trajectory, but also to achieve this goal by distributed controllers of low order dynamics. We prove that under mild assumptions it is possible to synchronize the agents and to limit the order of the controllers to an upper bound. Moreover, a special condition is derived under which it is even possible to synchronize the agents by means of static controllers. The efficiency of the approach is illustrated by a numerical example.