  This paper is concerned with the consensus problem for multi-agent systems
subject to communication delays between the neighboring agents. We consider a
scenario where each agent is characterized by a general high-order linear
system and the communication delays between the agents are non-uniform and
time-varying. We design a distributed control protocol for the agents and
provide an equivalent stability problem to be solved that guarantees the state
consensus in the group of agents. Moreover, a delay-dependent stability
criterion is provided by combining the Lyapunov-Krasovskii method with the
linear matrix inequality approach.
