Necessary and sufficient conditions are given for contraction of affine input-output systems, implementability of contractive references, and their realization via linear or affine feedback.
Regular imple- mentability and its application to stabilization of system behaviors
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Stability, Contraction, and Controllers for Affine Systems
Necessary and sufficient conditions are given for contraction of affine input-output systems, implementability of contractive references, and their realization via linear or affine feedback.