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This paper studies cluster synchronization in dynamical networks. A class of cooperative dynamical networks that exhibit clustering in their asymptotic behavior is analyzed. The network nodes are equipped with heterogeneous dynamics and interact with a nonlinear and saturated interaction rule. It is proven that cluster synchronization appears asymptotically independent of the initial conditions. The clustering behavior of the dynamic network is shown to correspond to the solution of a staticdoi:10.1109/tac.2012.2206695 fatcat:ituczp5jw5awpop226vxpcugn4