Output Synchronization of Nonlinear Systems under Input Disturbances

We study synchronization of nonlinear systems that satisfy an incremental passivity property. We consider the case where the control input is subject to a class of disturbances, including constant and sinusoidal disturbances with unknown phases and magnitudes and known frequencies. We design a distributed control law that recovers the synchronization of the nonlinear systems in the presence of the disturbances. Simulation results of Goodwin oscillators illustrate the effectiveness of the control law. Finally, we highlight the connection of the proposed control law to the dynamic average consensus estimator developed in [1].