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Control Contraction Metrics: Convex and Intrinsic Criteria for Nonlinear Feedback Design

Ian R. Manchester, Jean-Jacques E. Slotine. Control Contraction Metrics: Convex and Intrinsic Criteria for Nonlinear Feedback Design. IEEE Trans. Automat. Contr., 62(6):3046-3053, 2017. [doi]

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