High-order consensus of MIMO linear dynamic systems via stable compensator

In this paper, we study the consensus problem via stable compensator for N identical MIMO linear dynamic systems which are stabilizable and detectable. It is shown that consensus is reached if there exists a stable compensator which simultaneously stabilizes N - 1 systems in a special form. We show that there exists such a compensator under very general condition. Finally, the consensus value is characterized with a stable compensator in place.