Cooperative robust output regulation problem for discrete-time linear time-delay multi-agent systems via the distributed internal model

Abstract

In this paper, we study the cooperative robust output regulation problem for discrete-time linear multi-agent systems with both communication and input delays by distributed internal model approach. We first introduce the distributed internal model for discrete-time multi-agent systems with both communication and input delays. Then, we further establish the solvability conditions for the problem via both the distributed state feedback control and the distributed output feedback control.