  This paper considers an internal model based distributed control approach to
the cooperative output regulation problem of heterogeneous linear
time-invariant multiagent systems over fixed directed communication graph
topologies. First, a new definition of the linear cooperative output regulation
problem is introduced in order to allow a broad class of functions to be
tracked and rejected by a network of agents. Second, the solvability of this
problem with three distributed control laws, namely dynamic state feedback,
dynamic output feedback with local measurement, and dynamic output feedback, is
investigated by first considering a global condition and then providing an
agent-wise local sufficient condition under standard assumptions. Finally, two
numerical examples are provided to illustrate the selected contributions of
this paper.
