On Contraction Analysis for Nonlinear Systems Analyzing stability differentially leads to a new perspective on nonlinear dynamic systems

@inproceedings{Lohmiller1999OnCA,
  title={On Contraction Analysis for Nonlinear Systems Analyzing stability differentially leads to a new perspective on nonlinear dynamic systems},
  author={Winfried Lohmiller and Jean-Jacques E. Slotine},
  year={1999}
}
This paper derives new results in nonlinear system analysis using methods inspired from fluid mechanics and differential geometry. Based on a differential analysis of convergence, these results may be viewed as generalizing the classical Krasovskii theorem, and, more loosely, linear eigenvalue analysis. A central feature is that convergence and limit behavior are in a sense treated separately, leading to significant conceptual simplifications. The approach is illustrated by controller and… CONTINUE READING
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