An Internal Model Principle for Consensus in Heterogeneous Linear Multi-Agent Systems

The problem of reaching consensus in a heterogeneous multi-agent system is considered. The agents are modeled as linear time-invariant systems with potentially different state dimension and different dynamics. The interconnection topology between the agents is modeled as a directed and weighted graph. We propose an internal model principle for consensus translating in necessary conditions for existence of solutions to the output and state consensus problem.