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Consider the nonlinear dynamical system G given by (6.1) and (6.2) with J(x) ≡ 0 and rank[G(0)] = m, and the nonlinear controller Gc given by (6.3) and (6.4) with Jc(x) ≡ 0. Assume that G is completely reachable, zero-state observable, and exponentially passive with continuously differentiable radially unbounded, positive-definite storage function Vs : R n → R. Suppose there exists a continuously differentiable positive-definite function V : R n → R such that V (x) → ∞ as kxk → ∞, and

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