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.
Passive stability and adaptive control of teleoperated system using wave variables and predictor techniques
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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.