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Piecewise Lyapunov Functions to the Stability Analysis of Rational Systems subject to Multiple State Constraints

This paper investigates the regional stability of uncertain rational systems subject to multiple state constraints. To this end, a piecewise biquadratic Lyapunov function is considered to estimate the basin of attraction as an alternative to more complex polynomial Lyapunov functions. A 2-degree of freedom visual servo control system illustrates the approach