Disturbance Attenuation in Synchronised Systems

This paper investigates the disturbance-attenuation properties of synchronised systems. An internal-model principle for multi-agent systems is elaborated that describes the necessary dynamics of the extended agents for disturbance attenuation. Accordingly, the extended agents consisting of the agents and the local controllers have to include the dynamics of the disturbance generators. Furthermore, a necessary and sufficient synchronisation condition of disturbed systems is proved. The results are illustrated by a numerical example.