NONE 20260316115119221 wseas/wseas content-registration-form+ja@crossref.org content-registration-form WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL 1991-8763 2224-2856 Dušan Krokavec Institute of Artificial Intelligence Faculty of Electrical Engineering and Informatics Technical University of Košice Letná 9, 042 00 Košice SLOVAKIA This paper deals with consensus in a network of linear, ostensible Metzler agents whose communication topology is defined by an undirected graph. An observer-type consensus protocol is used and conditions for consensus within such a protocol are derived. The design problem is solved using separation of ostensible Metzler matrices and is parameterized using linear matrix inequalities. The methodology guarantees strictly positive observer and protocol gain matrices, which overcomes the conservatism generally caused by non-negative matrix parameters of agents. The properties of the proposed approach are illustrated by a numerical example. 12 31 2025 12 31 2025 551 54 https://creativecommons.org/licenses/by/4.0/deed.en_US 10.37394/23203.2025.20.54 https://wseas.com/journals/sac/2025/b105103-042(2025).pdf R.W. Beard, T.W. McLain, M.A. Goodrich, and E.P. Anderson, "Coordinated target assignment and intercept for unmanned air vehicles," IEEE Trans. Robot. Autom., vol. 18, no. 6, pp. 911– 922, 2002. https://doi.org/10.1109/ tra.2002.805653 J.R. Carpenter, "Decentralized control of satellite formations," Int. J. Robust. Nonlin., vol. 12, no. 2/3, pp. 141–161, 2002. https://doi.org/ 10.1002/rnc.680 Z. Lian and A. Deshmukh, "Performance prediction of an unmanned airborne vehicle multiagent system," Eur. J. Oper. Res., vol. 172, no. 2, pp. 680–695, 2006. https://doi.org/10. 1016/j.ejor.2004.10.015 B. Wu and X. Cao, "Decentralized control for spacecraft formation in elliptic orbits," Aircr. Eng. Aerosp. 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