  The leader-following consensus of multiple linear time invariant (LTI)
systems under switching topology is considered. The leader-following consensus
problem consists of designing for each agent a distributed protocol to make all
agents track a leader vehicle, which has the same LTI dynamics as the agents.
The interaction topology describing the information exchange of these agents is
time-varying. An averaging method is proposed. Unlike the existing results in
the literatures which assume the LTI agents to be neutrally stable, we relax
this condition, only making assumption that the LTI agents are stablizable and
detectable. Observer-based leader-following consensus is also considered.
