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Firstly, a distributed consensus protocol based on output feedback is proposed. Secondly, the state transformation is presented to convert the consensus problem into the stability problem. Based on the Lyapunov theory and the linear matrix inequality (LMI) method, sufficient conditions in terms of LMIs are derived to ensure that consensus of DMASs can be achieved. Moreover, the consensus problem for higher-order DMASs with delays is solved under two cases where interaction topologies are undirected and directed, which is more complicated and challenging. 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