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In this paper, we investigate a second order consensus problem in a directed graph with non-uniform time delay. This problem arises naturally in real multi-agent systems such as distributed sensing and collective motion. We analyze convergence of the consensus algorithm by frequency domain methods. By using the small -Â¿ stability theorem, we derive criteria to guarantee convergence. Furthermore, we extend the analysis to higher order systems with time delay. Finally, we present simulations to illustrate theoretical results.