  This work addresses the synchronization/consensus problem of identical
multi-agent system (MAS) where the agents' dynamics are linear and the
communication network is arbitrarily switching among connected topologies. The
approach uses a gain matrix of a special structure in a dynamic compensator for
each agent. Under reasonable conditions, the approach ensures that consensus is
reached when the gain is sufficiently large. This result holds for general
linear systems including the case where agents have repeated unstable
eigenvalues. The proposed controller structure can be seen as a special case of
the existing MAS controller structures but offers consensus conditions that are
simpler than existing results, especially for the case when the network is
switching among connected graphs. The works shows its application to three
communication settings: fixed graph, switching among undirected and connected
graphs and switching among directed and connected graphs. An example is
provided to illustrate the results.
