A smooth Lyapunov function from a class-𝒦ℒ estimate involving two positive semidefinite functions
ESAIM: Control, Optimisation and Calculus of Variations, Tome 5 (2000), pp. 313-367. 
@article{COCV_2000__5__313_0,
     author = {Teel, Andrew R. and Praly, Laurent},
     title = {A smooth {Lyapunov} function from a class-$\mathcal {KL}$ estimate involving two positive semidefinite functions},
     journal = {ESAIM: Control, Optimisation and Calculus of Variations},
     pages = {313--367},
     publisher = {EDP-Sciences},
     volume = {5},
     year = {2000},
     mrnumber = {1765429},
     zbl = {0953.34042},
     language = {en},
     url = {http://archive.numdam.org/item/COCV_2000__5__313_0/}
}
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Teel, Andrew R.; Praly, Laurent. A smooth Lyapunov function from a class-$\mathcal {KL}$ estimate involving two positive semidefinite functions. ESAIM: Control, Optimisation and Calculus of Variations, Tome 5 (2000), pp. 313-367. http://archive.numdam.org/item/COCV_2000__5__313_0/

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