Almost Output Synchronization of Heterogeneous Continuous-Time Linear MAS with Passive Agents

In the previous chapters of this book, we often considered systems which either have all poles in the closed left half plane or have all zeros in the open left half plane (at most weakly unstable or minimum phase). For homogeneous MAS, we also considered the case where agents are passive or, at least, squared-down passifiable. One of the advantages of passivity was the fact that we could achieve our objectives by static protocols.