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It is shown that many system stability and robustness problems can be reduced to the question of when there is a quadratic Lyapunov function of a certain structure which establishes stability of x = Ax for some appropriate A. The existence of such a Lyapunov function can be determined by solving a convex program. We present several numerical methods for these optimization problems. A simple numerical example is given.
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Boyd et al. (1989) studied this question.
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