Fig. 1: Architecture of the PoT consensus protocol.

Step 1: Agents l, j and k send raw interaction data to the P2P network. Step 2: Nodes in the P2P network exchange their data and perform the Majority Rule Principle (MRP) on raw interaction data belonging to each node. Step 3: Choose representative nodes to form a delegation. Step 4: Delegates obtain their respective candidate control command by solving a constrained optimization problem on the regulation Performance Metric Function (PMF). Step 5: Delegates exchange solutions, validate viable control inputs through stability criteria, and choose a relatively optimal one on the PMF. Step 6: Each delegate issues the locally validated command to the Actuator-Side Decision Maker (ASDM). Step 7: The ASDM selects the final control input \({u}_{l,PoT}^{*}\) based on the MRP. Step 8: The actuator takes input \({u}_{l,PoT}^{*}\). Step 9: Score delegates based on their performance in the round.