Design of output feedback controller for consensus of linear systems having non-uniform ranks With switching topology

This paper studies the design problem of a controller to achieve a consensus of a group of N identical and high-order linear systems that possibly have non-uniform ranks but do not have finite zeros. The local interactions among the N systems are modeled by a switching graph that ranges over a finite set of connected and undirected graphs and has a non-vanishing dwell time. Under these conditions, we propose a controller for the consensus of the N systems which uses only relative output measurements from the neighboring systems for the purpose of feedback.