Cooperative output regulation of discrete-time linear multi-agent systems based on state observer

Cooperative output regulation of discrete-time linear multi-agent systems under an undirected interaction topology is investigated. A new distributed control law based on the state observer is proposed, which makes the system have a faster convergent speed. This distributed observer will provide, to each agent, not only its own estimated state and the estimated state of its neighbor agents, but also the estimated state of the neighbor net of its neighbor agents. Under some standard assumptions, necessary and sufficient conditions for the solvability are given. A numerical example illustrates applicability of the proposed approach.