String stability in consensus protocols is determined solely by communication richness r (achievable iff r >= 2), independent of protocol order m which only shapes mid-frequency transients.
Consensus problems in networks of agents with switching topology and time-delays.IEEE Transactions on automatic control, 49(9):1520–1533, 2004
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Generalized String-Stability Criteria for Consensus Protocols
String stability in consensus protocols is determined solely by communication richness r (achievable iff r >= 2), independent of protocol order m which only shapes mid-frequency transients.