Scalable exact output synchronization of discrete-time multi-agent systems in the presence of disturbances and measurement noise with known frequencies

This article aims to achieve scalable exact output and regulated output synchronization for discrete-time multi-agent systems in presence of disturbances and measurement noise with known frequencies. Both homogeneous and heterogeneous multi-agent systems are considered, with parts of agents' states accessible in the latter case. The key contribution of this article is to establish scalable exact synchronization results under disturbances and measurement noise, which is achieved by using distributed protocols that only use information about agent models and no information about the communication network or the number of agents. The validity of the protocol is verified by numerical simulations with arbitrarily chosen number of agents.