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A Riccati equation approach to cooperative output regulation of heterogeneous multi-agent systems

In this paper, the cooperative output regulation of heterogeneous linear multi-agent systems is considered. A novel local dynamic compensator is addressed, along with which, dynamic distributed control protocols using full state feedback measurements, static output feedback measurements and dynamic output feedback measurements are presented, respectively. The coupling gain matrices can be obtained by solving related algebraic Riccati equations. Simulation examples are provided to verify the effectiveness of the proposed approach.