Achieving output consensus of heterogeneous network of two dimensional agents via static diffusive controller

This paper addresses the output consensus of heterogeneous linear network when agents are coupled by static controller. It provides a procedure to not only verify the existence of an internal model, which is a well-known necessary condition for output consensus, but also obtain the largest internal model. Once the internal model exists, static controller is then proposed to achieve output consensus. Of interest is that if there is at least one isolated agent whose trajectories converge to the internal model, we can find static controller such that the heterogeneous network achieves consensus under certain conditions. Finally, one example is given to illustrate the effectiveness of our theoretical results.