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Robust perturbed output regulation and its application to synchronization of nonlinear heterogeneous multi-agents

The conventional output regulation problem aims to achieve reference tracking and disturbance rejection while references and disturbances are generated by an autonomous exosystem. When the exosystem is perturbed by an external event, a novel robust perturbed output regulation problem is formulated and solved in this paper. The formulation arises from a kind of synchronization problem of multiple agents. Hence, the proposed solution leads to a decentralized control algorithm for synchronization of multiple agents with nonlinear heterogeneous dynamics.