The feedforward design approach is introduced as an alternative method for synchronizing heterogeneous multi-agent systems. The chapter focuses on systems in normal form, leveraging feedforward control to regulate agent outputs toward reference trajectories. A key challenge is ensuring that reference models have a sufficiently high relative degree to generate adequately differentiable outputs. Another challenge is handling perturbed consensus among reference models in an output communication scenario. After addressing these two challenges, applying feedforward regulation controllers to align the outputs of agents with the reference models provides a complete solution to the synchronization problem.