“…Proof. Note from (13) and (36) that the controllability gramian of the current linearized system G c[0,t * ] (A(t) , b(t)) is kept non-singular if that of its linearized counterpart G c0[0,t * ] (A 0 , b 0 ) is non-singular for all t * > 0 and, furthermore,G c0[0,t * ] (A 0 , b 0 ) = G c[0,t * ] (A(t), b(t)) − G c0[0,t * ] (A 0 , b 0 ) has a sufficiently…”