Cooperative output regulation of a class of linear multi-agent systems

In this note, we do something in the cooperative output regulation of linear multi-agent systems. The linear multi-agent systems which we consider is a class of leader-follower systems, only part of agents can access the exogenous signal. What we do is design a simple control law with a dynamic compensator to solve the cooperative output regulation problem. We consider two situations in designing control law, one is using full information of state, another is using part information.