The　paper　studies　the　formation　control　problem　of　a　general　linear　multiagent　system　under　the　time-invariant　and　directed　communication　topology　and　with　time-invariant　relative　position　and　angle　constraints.　A　consensus　based　formation　control　protocol　is　proposed　to　make　sure　that　the　multi-agent　system　achieves　a　desired　formation　by　local　information　exchange　among　agents.　First　of　all,　a　state　translation　is　used　to　transform　the　formation　problem　into　a　consensus　problem.　Then　a　state-linear-transformation　continues　to　transform　the　consensus　problem　into　a　partial　stability　problem.　By　the　partial　stability　theory,　a　sufficient　and　necessary　criterion　of　formation　and　its　consensus　trajectory　function　are　derived.　Moreover,　a　design　procedure　of　gain　matrices　based　on　the　Lyapunov　inequality　and　the　Bilinear　Matrix　Inequality　(BMI)　is　given.　Finally,　a　numerical　example　is　shown　to　illustrate　the　effectiveness　of　the　results.　©　2016　ICIC　International.