@article{guo2013nonlinear,
  title={Nonlinear consensus via continuous, sampled, and aperiodic updates},
  author={Guo, Meng and Dimarogonas, Dimos V},
  journal={International Journal of Control},
  volume={86},
  number={4},
  pages={567--578},
  year={2013},
  publisher={Taylor \& Francis}
}