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    Contraction theory for nonlinear stability analysis and learning-based control: A tutorial overview by Tsukamoto, Hiroyasu, Chung, Soon-Jo, Slotine, Jean-Jaques E.

    Published 2024
    “…This yields much-needed safety and stability guarantees for neural network-based control and estimation schemes, without resorting to a more involved method of using uniform asymptotic stability for input-to-state stability. …”
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