Sliding-mode observer based synchronization of interconnected heterogeneous systems with measurement uncertainty

This paper proposes an output synchronization technique for an interconnected heterogeneous linear time-invariant systems with measurement uncertainty. The distributed Walcott-Zak like sliding-model observers which can compensate the measurement uncertainties are designed; so the estimation error is obtained in such a way that asymptotically stable. Using the internal model principle, a reference generator is designed and it is validated that the distributed synchronization controllers guarantee that all the output of sub-systems achieve synchronization to a non-trivial common output trajectory.