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Antonovskaya, O.G. On the Maximum Possible Negativity Margin for the First Derivative (First Difference) of a Quadratic Lyapunov Function. Differential Equations 39, 1645–1647 (2003). https://doi.org/10.1023/B:DIEQ.0000019358.05481.6a
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DOI: https://doi.org/10.1023/B:DIEQ.0000019358.05481.6a