“…where plant P(σ)w = 0 and controller C(σ)w = 0 laws must be simultaneously satisfied by w. This means that, by selecting a suitable controller, we are able to restrict the trajectories of the system to those that are asymptotically stable and discard those that are undesirable, for example, unstable, highly oscillatory, too slow, and so forth. The design of controller C(σ) can impose the stability on (5). For this, it must be guaranteed that, having a partition w = col(u, y), the stability conditions recalled in Section 2.3 for a Lyapunov function candidate Q Ψ , hold for all w satisfying (5).…”