A nested Matrosov theorem and persistency of excitation for uniform convergence in stable nonautonomous systems.

Antonio Loría Elena Panteley Dobrivoje Popovic Andrew R. Teel A nested Matrosov theorem and persistency of excitation for uniform convergence in stable nonautonomous systems. 183-198 2005 50 IEEE Trans. Autom. Control. 2 https://doi.org/10.1109/TAC.2004.841939 db/journals/tac/tac50.html#LoriaPPT05