The tutorial style article about the blended dynamics theorem:
Design of heterogeneous multi-agent system for distributed computation
Jin Gyu Lee and Hyungbo Shim
in the book Trends in Nonlinear and Adaptive Control (edited by Z.-P. Jiang, C. Prieur, A. Astolfi), Springer, 2022
https://link.springer.com/book/10.1007/978-3-030-74628-5
is now published, whose arXiv version can be found at https://arxiv.org/abs/2101.00161.