TY - JOUR AU - Teel, Andrew R. AU - Praly, Laurent TI - A smooth Lyapunov function from a class-$\mathcal {KL}$ estimate involving two positive semidefinite functions JO - ESAIM: Control, Optimisation and Calculus of Variations PY - 2000 SP - 313 EP - 367 VL - 5 PB - EDP-Sciences UR - http://archive.numdam.org/item/COCV_2000__5__313_0/ LA - en ID - COCV_2000__5__313_0 ER -