An Extended Small-Gain Theorem
  We extend the results of the general small-gain theorem proposed by Z.P Jiang. The significance of this extension is two fold. First, it allows one to use general vector norm to characterize the input-to-output property of two interconnected subsystems. Second, the gain from input signals to output of each sub-system is provided, which offers one more flexibility in control design. 
Yunsheng Li, Chi Jin
cs.SY