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For control-affine systems with a proper Lyapunov function, the classical Jurdjevic–Quinn procedure (see Jurdjevic and Quinn, 1978) gives a well-known and widely used method for the design of feedback controls that asymptotically stabilize the system to some invariant set. In this procedure, all controls are in general required to be activated, i.e. nonzero, at the same time. In this paper we give...
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