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Contraction analysis is a stability theory for nonlinear systems where stability is defined incrementally between two arbitrary trajectories. It provides an alternative framework in which to study uncertain interconnections or systems with external inputs, where it offers several significant advantages when compared with traditional Lyapunov analysis. Contraction-based methods are particularly useful for analyzing systems with uncertain parameters and for proving synchronization properties ofdoi:10.1016/j.automatica.2007.12.012 fatcat:c3o2smyurvfwpo64np3pufdhca