Robust output synchronisation of non-identical linear agents via internal model principle

This study investigates the output synchronisation of a heterogeneous network of agents affected by parameter perturbations. The authors use the output regulation theory to solve this problem. The main result is the construction of the reference generators and the robust regulators, which can guarantee the outputs of the non-identical agents track the output of the leader. The designed method includes two steps, which can be seen as a kind of separation principle. Firstly, the outputs of a network of local identical reference generators are forced to asymptotically follow the output of the leader. Secondly, under the control of an individual regulator, the output of each agent is forced to track the output of the corresponding local reference generator, via robust output regulation theory.