Bipartite output regulation for singular heterogeneous multi‐agent systems on signed graph

The paper primarily tends to handle bipartite output regulation problem for singular heterogeneous multi-agent systems with signed graph. This disturbance and reference signals are produced by exosystem, respectively. By virtue of theory, two new distributed feedback controllers state considered realize the regulation, For each case, a dynamical compensator is proposed, stability analysis closed-loop system conducted without constructing standard reduction transformation matrices. Furthermore, local observer incorporated into an controller, which suitable when states cannot be available. Simulations finally presented in demonstrating feasibility results.