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 _    _     _____    __   _      ___      ______  
| || | ||  |  ___|| | || | ||   / _ \\   /_   _// 
| || | ||  | ||__   | '--' ||  / //\ \\  `-| |,-  
| \\_/ ||  | ||__   | .--. || |  ___  ||   | ||   
 \____//   |_____|| |_|| |_|| |_||  |_||   |_||   
  `---`    `-----`  `-`  `-`  `-`   `-`    `-`'

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Text this: Resilient impulsive control for second-order consensus under malicious nodes