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In this paper, we study the robust bipartite output regulation problem for a class of linear uncertain multi-agent systems. After formulating the problem, we extend the concept of the virtual regulated output from the unsigned digraph to the signed digraph. Based on the virtual regulated output, we can define a so-called distributed internal model and form a so-called ancillary augmented system. We then show that, under some standard conditions, the problem can be converted into the distributed stabilisation problem of the ancillary augmented system, thus leading to the solvability of the problem. A special case of our result where the digraph is unsigned recovers the solution of the robust cooperative output regulation problem for the same class of linear uncertain multi-agent systems.

Robust bipartite output regulation of linear uncertain multi-agent systems