  This paper deals with data-driven output synchronization for heterogeneous
leader-follower linear multi-agent systems. Given a multi-agent system that
consists of one autonomous leader and a number of heterogeneous followers with
external disturbances, we provide necessary and sufficient data-based
conditions for output synchronization. We also provide a design method for
obtaining such output synchronizing protocols directly from data. The results
are then extended to the special case that the followers are disturbance-free.
Finally, a simulation example is provided to illustrate our results.
