Synchronized output regulation of leader-following heterogeneous networked systems via repetitive controllers

In this paper, the synchronized output regulation (SOR) problem of leader-following heterogeneous linear networked systems aiming at tracking periodical signals is investigated. Only the output information of each agent is delivered throughout the communication network. For tracking a general periodic signal consisting many sinusoid functions, the dimension of the internal model compensator embedded in each agent will be too high to be implemented in practice. To cope with this difficulty, a distributed repetitive control method is proposed in this paper. A stability condition is developed, as well as the bound of error size. Then it is shown that the controller always exists for any given bound of tracking error. At last, the efficacy of analytic results is illustrated by simulation examples.