Synchronization of heterogeneous agents using min-max optimization

In this paper, we address the problem of output synchronization of networks of non-identical linear time-invariant agents. Relying on the notion of the internal-reference principle for synchronization, we propose a dynamic output feedback controller for every agent to solve the problem at hand. We emphasize the fact that the distributed controllers are only driven by relative output information and thus the communication load for the network is minimized. Furthermore, a min-max optimization algorithm is provided allowing to determine suitable controller parameters for each agent such that all outputs synchronize asymptotically. The results are illustrated by a numerical example.