Synchronized output regulation of heterogenous networks with sampled-data communications

This paper studies a synchronized output regulation problem with information exchanged at sampled times. Each node has a continuous-time internal model controller and a local exosystem providing a reference output signal. At sampled times, each node sends the exosystem state to its neighboring nodes, as well as updates the exosystem dynamics by the received sampled data. A necessary and sufficient condition that the sampled period should satisfy for SOR of a fixed digraph is presented. A numerical simulation shows an efficacy of analytic results.