A note on norm-based Lyapunov functions via contraction analysis
S. Coogan, M. Arcak
arXiv:1308.0586, 2013
Abstract
It is well know that for globally contractive autonomous systems, there exists a unique equilibrium and the distance to the equilibrium evaluated along any trajectory decreases exponentially with time. We show that, additionally, the magnitude of the velocity evaluated along any trajectory decreases exponentially, thus giving an alternative choice of Lyapunov function.