  In this paper, we consider scalable output and regulated output
synchronization problems for heterogeneous networks of right-invertible linear
agents based on localized information exchange where in the case of regulated
output synchronization, the reference trajectory is generated by a so-called
exosystem. We assume that all the agents are introspective, meaning that they
have access to their own local measurements. We propose a scale-free linear
protocol for each agent to achieve output and regulated output
synchronizations. These protocols are designed solely based on agent models and
they need no information about communication graph and the number of agents or
other agent models information.
