Cooperative Control Design: A Systematic, ivity-Based Approach discusses multi-agent coordination problems, including formation control, attitude coordination, and synchronization. The goal of the book is to introduce ivity as a design tool for multi-agent systems, to provide exemplary work using this tool, and to illustrate its advantages in deg robust cooperative control algorithms. The discussion begins with an introduction to ivity and demonstrates how ivity can be used as a design tool for motion coordination. Followed by the case of adaptive redesigns for reference velocity recovery while describing a basic design, a modified design and the parameter convergence problem. Formation control is presented as it relates to relative distance control and relative position control. The coverage is concluded with a comprehensive discussion of agreement and the synchronization problem with an example using attitude coordination.