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and u,-, is the column vector j of Uj, and analogously, u* is the column vector j of the matrix U* in (64)-(70). Thai, taking the first derivative of V along the error trajectories r](t) and v(f) in t e [fo, 00) and since rj e S,r one accomplishes where Q is obtained for the control loop by replacing (63) in (61) for t e [to, <x>)

where Q is obtained for the control loop by replacing (63) in (61) for t e [to, <x>)

Since Q(Ui) is globally convex in any convex set of the controller parameter space, it is valid

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