According to [1]: In IBFT 2.0 networks, approved accounts, known as validators, validate transactions and blocks. Validators take turns to create the next block. Before inserting the block onto the chain, a super-majority (greater than 66%) of validators must first sign the block.

Considering this information, is there any paper or credible reference to arrive at this formula:

N >= 3*F + 1

N - Total number of nodes

F - Total number of bizantine nodes

We could demonstrate this relationship in my workgroup, but I would prefer to refer to an external credible source. Does anyone know?

[1] - https://besu.hyperledger.org/en/stable/HowTo/Configure/Consensus-Protocols/IBFT/

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