Discrete-time asymptotic controllability implies smooth control-Lyapunov function

@article{Kellett2004DiscretetimeAC,
  title={Discrete-time asymptotic controllability implies smooth control-Lyapunov function},
  author={Christopher M. Kellett and Andrew R. Teel},
  journal={Systems & Control Letters},
  year={2004},
  volume={52},
  pages={349-359}
}

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