  This paper considers a problem of output agreement in heterogeneous networks
with dynamics on the nodes as well as on the edges. The control and disturbance
signals entering the nodal dynamics are "unmatched" meaning that some nodes are
only subject to disturbances, and are deprived of actuating signals. To further
enrich our model, we accommodate (solvable) algebraic constraints in a subset
of nodal dynamics. We show that appropriate dynamic feedback controllers
achieve output agreement on a desired vector. We also investigate the case of
an optimal steady-state control over the network. The proposed results are
applied to a heterogeneous microgrid.
