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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
    “…Such distinctive features permit systematic construction of a contraction metric via convex optimization, thereby obtaining an explicit exponential bound on the distance between a time-varying target trajectory and solution trajectories perturbed externally due to disturbances and learning errors. …”
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