# Delay Effect on First-Order Consensus over Directed Graphs: Optimizing PID Protocols for Maximal Robustness

> Research article (SIAM Journal on Control and Optimization, 2022) · cited 16× · AI/ML

**Wikidata**: [openalex:W4205598770](https://www.wikidata.org/wiki/openalex:W4205598770)  
**Source**: https://4ort.xyz/entity/delay-effect-on-first-order-consensus-over-directed-graphs-optimizing-pid-protocols-for-maximal-robustness