Output consensusability of network with two-dimensional heterogeneous linear agents via static diffusive output feedback

This paper addresses the output consensusability of network with two-dimensional heterogeneous linear agents via static diffusive output feedback. 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, sufficient conditions are given for output consensusability. Specifically, when the internal model is one-dimensional, the existence of at least one individual agent whose trajectories converge to the internal model is sufficient for output consensusability; when the internal model is two-dimensional, if the differences of the control inputs among the agents are small enough, then the network is consensusable under certain conditions. Finally, two examples are given to illustrate the effectiveness of our results.