  This paper considers the synchronized output regulation (SOR) problem of
nonlinear multi-agent systems with switching graph. The SOR means that all
agents regulate their outputs to synchronize on the output of a predefined
common exosystem. Each agent constructs its local exosystem with the same
dynamics as that of the common exosystem and exchanges the state information of
the local exosystem. It is shown that the SOR is solvable under the assumptions
same as that for nonlinear output regulation of a single agent, if the
switching graph satisfies the bounded interconnectivity times condition. Both
state feedback and output feedback are addressed. A numerical simulation is
made to show the efficacy of the analytic results.
