Non-conservative discrete-time ISS small-gain conditions for closed sets
  This paper presents a unification and a generalization of the small-gain theory subsuming a wide range of existing small-gain theorems. In particular, we introduce small-gain conditions that are necessary and sufficient to ensure input-to-state stability (ISS) with respect to closed sets. Toward this end, we first develop a Lyapunov characterization of $\omega$ISS via finite-step $\omega$ISS Lyapunov functions. Then, we provide the small-gain conditions to guarantee $\omega$ISS of a network of systems. Finally, applications of our results to partial input-to-state stability, ISS of time-varying systems, synchronization problems, incremental stability, and distributed observers are given. 
Navid Noroozi, Roman Geiselhart, Lars Gr\"une, Bj\"orn S. R\"uffer,   Fabian R. Wirth
math.OC