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The hybrid controller incorporates pole placement, tracking and regulation (RST) controller accompanied by adaptive model reference adaptive control (MRAC), after that incorporating MIT rule in the design analysis to endorse system stability. Leader following algorithm is fused with the system model to make the speed of following agent's equivalent to that of leader. In the proposed method, every motor with its chopper circuit is treated as sole agent i.e., \\(i_\\mathrm{th}\\) agent. In this paper, we assume that communication among leader and follower is fixed moreover, we also consider two possible scenarios of communication, i.e., in the presence of delay and without delay. 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