“…Over the years, it has become clear that the structural constrains imposed by the network topology in consensus problems often lead to fundamentally poor dynamic behaviors in large networks. This concerns controllability [4], performance [5], [6] and disturbance propagation [7], [8], but, as recently highlighted in [9], also stability. The poor stability properties characterized in earlier work [9] (which motivate the present work) apply to higher-order consensus, where the local dynamics of each agent is modeled as an nth order integrator, with n ≥ 2, and the control is a weighted average of neighbors' relative states.…”