From ( 5 ) and (3) we have < 0. E.g., the
total derivative of a positive-definite quadratic function
V ( i i s , i ~ , i ~ s , wis ,n)e gative. One concludes that an openloop
system is asymptotically stable. This is a very impomt
result because -ii' d ws r and *;;ru, in (3) are
not destabilizing nonlinearities. %e linearization of the
circuitry dynamics using the linearizing feedback