Robust decentralized output regulation with single or multiple reference signals for uncertain heterogeneous systems

We consider the problem in which N coupled heterogeneous uncertain linear systems aim at tracking one or more reference signals generated by given exosystems under the restriction that not all the systems are directly connected to the exosystems. To tackle this problem, the reference signals are reconstructed via local interaction of the systems among themselves and the exosystems in accordance with the given communication graph. Then, decentralized robust controllers using the reconstructed reference signals are designed and shown to result in a closed-loop system whose outputs track the prescribed reference signals. Copyright (c) 2014 John Wiley & Sons, Ltd.