Robust decentralized output regulation for uncertain heterogeneous systems

We consider the problem in which N heterogeneous uncertain linear systems aim at tracking a reference signal generated by a given exosystem under the restriction that not all the systems are directly connected to the exosystem. To tackle this problem, the reference signal is reconstructed via local interaction of the systems among themselves and the exosystem in accordance with the given communication graph. Then decentralized robust controllers which use the reconstructed reference signals are designed and shown to track the prescribed reference signal.