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Cited article:

Small-Time Stabilization of Homogeneous Cascaded Systems with Application to the Unicycle and the Slider Examples

Brigitte d'Andréa-Novel, Jean-Michel Coron and Wilfrid Perruquetti
SIAM Journal on Control and Optimization 58 (5) 2997 (2020)
https://doi.org/10.1137/19M1285081

A Converse Liapunov Theorem for Uniformly Locally Exponentially Stable Systems Admitting Carathéodory Solutions *

Jochen Trumpf and Robert Mahony
IFAC Proceedings Volumes 43 (14) 1374 (2010)
https://doi.org/10.3182/20100901-3-IT-2016.00090