Reinforcement learning and cooperative <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" display="inline" id="d1e121" altimg="si3.svg"><mml:msub><mml:mrow><mml:mi>H</mml:mi></mml:mrow><mml:mrow><mml:mi>∞</mml:mi></mml:mrow></mml:msub></mml:math> output regulation of linear continuous-time multi-agent systems