An Internal Model Approach to Cooperative Output Regulation Over Switching Graphs

This article considers the cooperative output regulation problem of heterogeneous linear time-invariant multiagent systems over switching graphs. A sufficient condition for an internal model-based distributed dynamic state feedback control law to solve this problem is the asymptotic stability of the origin of the unforced switched closed-loop system under graph-theoretic and algebraic assumptions. Notably, the asymptotic stability depends on the properties of the switching signal. To this end, our contribution is to provide scalable stability analysis and control gain synthesis methods regarding two classes of switching signals, namely arbitrary switching signals and slow switching signals subject to an average dwell-time constraint.