A Tutorial on Incremental Stability Analysis using Contraction Theory
This paper introduces a methodology for differential nonlinear stability analysis using contraction theory (Lohmiller and Slotine, 1998). The methodology includes four distinct steps: the descriptions of two systems to be compared (the plant and the observer in the case of observer convergence analy...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Norwegian Society of Automatic Control
2010-07-01
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| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/2010/MIC-2010-3-2.pdf |