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Papachristodoulou, Antonis and Prajna, Stephen (2002) On the construction of Lyapunov functions using the sum of squares decomposition. In: Proceedings of the 41st IEEE Conference on Decision and Control. IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 3482-3487. ISBN 0-7803-7516-5 http://resolver.caltech.edu/CaltechAUTHORS:20111102-095353746

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