INTRODUCTIO N thi pape w addres th followin problem Conside a smoot syste o IR n xix 1 wit a equilibriu poin 00 0 whi i globall stabilizabl b a smoot h feedba ux a th origin Th proble i t determin a c las o fun tion g R m IR an h jpm j j 1 j ID: 31520
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