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We consider both leaderless and leader-follower nonlinear networks withcommunication delays and, for such systems, we give sufficient conditions thatguarantee the convergence of the network towards some desired behavior whilesimultaneously guaranteeing rejection of polynomial disturbances and thenon-amplification of other classes of disturbances across the network. Theseconditions are based on the use of multiplex network architectures and theiruse for control design is illustrated in the context of formation control viaboth in-silico and experimental validations with a real hardware set-up. Allexperiments confirm the effectiveness of our results.

A Multiplex Approach Against Disturbance Propagation in Nonlinear Networks with Delays