Ripple-free output consensus design for heterogeneous LTI multi-agent systems using sampled-data control

This paper shows a sampled-data consensus design for heterogeneous linear time-invariant (LTI) multi-agent systems. To achieve the ripple-free design requirement and to provide estimates of the locally maximum allowable sampling periods (LMASPs) for the problem, we develop an internal model principle approach. The present study extends the continuous-time cooperative robust output regulation (CROR) investigations in literature and offers a ripple-free solution with estimates of the LMASPs by means of monodromy matrix-based stability analysis for hybrid systems. We also present a numerical example and perform simulations using Hybrid Equations (HyEQ) Toolbox in literature to illustrate the proposed results.