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Lyapunov Derivative

  1. Sep 4, 2014 #1
    1. The problem statement, all variables and given/known data
    I cant seem to figure out how this next step of this derivation for equation 2.33 was produced. This is a graduate level textbook on Adaptive Backstepping.
     

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  2. jcsd
  3. Sep 4, 2014 #2
    In case my question wasnt clear enough, I don't understand how the author produced equation 2.33.
     
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