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

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