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The theory and application of control-Lyapunov functions were developed by Z. Artstein and [[Eduardo D. Sontag|E. D. Sontag]] in the 1980s and 1990s.
==Example==
Here is a characteristic example of applying a Lyapunov candidate function to a control problem.
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{{Reflist}}
==References==
*{{cite book|last=Freeman|first=Randy A.|author2=Petar V. Kokotović|title=Robust Nonlinear Control Design|publisher=Birkhäuser|year=2008|edition=illustrated, reprint|pages=257|isbn=0-8176-4758-9|url=http://books.google.com/books?id=_eTb4Yl0SOEC|accessdate=2009-03-04}}
==See also==
*[http://erusbot.com/ Very Small Size Soccer Erus Team
* [[Artstein's theorem]]
* [[Lyapunov optimization]]
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