Introduction. Non-linear Differential Equations. Second-Order Systems. Approximate Analysis Methods. Lyapunov Stability. Input-Output Stability. Differential Geometric Methods. Appendices: Prevalence of Differential Equations with Unique Solutions, Proof of the Kalman-Yacubovitch Lemma and Proof of the Frobenius Theorem.
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Vidyasagar et al. (1980) studied this question.
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