Aiming at the lag consensus problem of first-order and second-order hybrid heterogeneous multi-agent systems, a distributed lag consensus control protocol based on pinning control was proposed. Firstly, the lag consensus analysis was transformed into stability verification. Then, the stability of closed loop system was analyzed by using graph theory and Lyapunov stability theory. Finally, the sufficient conditions for solvability of lag consensus based on Linear Matrix Inequality (LMI) were given under fixed and switching topologies respectively, so that leader-follower lag consensus of heterogeneous multi-agent system was achieved. The numerical simulation results show that, the proposed lag consensus control method can make the heterogeneous mult-agent systems achieve leader-follower lag consensus.

OOFDM (Orthogonal Frequency Division Multiplexing) is a focus in research of broadband communications now. The combination of OFDM with ROF (Radio Over Fiber) system can overcome optical dispersion and improve the performance of ROF system。 A generation and transmission system of optical millimeter-wave carrying OFDM signal based on phase modulator was proposed. In the center station, Double SideBand with Suppressed Carrier (DSB-SC) optical millimeter wave signal was generated utilizing phase modulator along with optical filter, while OFDM signal was modulated only onto one of the two optical carriers and transported along optical fiber. The paper set a model about optical carrier OFDM generation and analyzed fiber dispersion influence on phase, and proved the feasibility of the system through the simulation test. The result show the system's eye chart is very clear over 95km optical fiber.