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Show PDF File - robotics - Universidad de Zaragoza

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ρ(J) = λeff(W) <br />

<br />

||ecen(t)||2 ≤ λ t eff(W)||ecen(0)||2 + 2p(n − 1)σJλ t−1<br />

eff (W)t, <br />

ρ(J) = λeff(W) <br />

||ecen(t)||2 ≤ λ t eff(W)||ecen(0)||2 +<br />

2p(n − 1)σJ<br />

ρ(J) − λeff(W) (ρt (J) − λ t eff(W)). <br />

λeff(W) < 1 G λt eff (W)||ecen(0)||2 <br />

t → ∞ <br />

ecen(0) ρ(J) = λeff(W) λt eff (W)t <br />

t ≥ λeff(W)<br />

1−λeff(W) t → ∞ ρ(J) = λeff(W) <br />

(ρ t (J) − λ t eff (W)) λeff(W) <br />

ρ(J) < 1 limt→∞ ||ecen(t)||2 = 0 <br />

||ecen(t)||2 = 0 ecen(t) = 0 <br />

Z p n M p n <br />

<br />

<br />

A = [Aij] A ∈ R np×np Aij p × p<br />

i, j ∈ {1, . . . , n}<br />

A Zp n Aij i, j ∈ {1, . . . , n}<br />

Aij 0 i, j ∈ {1, . . . , n}, j = i. ˆ Zp n A ∈ Zp n <br />

Aii ≻ 0 i ∈ {1, . . . , n} A M p n A ∈ ˆ Zp n <br />

u1, . . . , un > 0 <br />

n<br />

ujAij ≻ 0 for all i ∈ {1, . . . , n}.<br />

j=1<br />

A ∈ Zp n ∀J ⊂ {1, . . . , n} <br />

i ∈ J <br />

j∈J Aij <br />

≻ 0 π <br />

j≥i Aπ(i),π(j) ≻ 0 i ∈ {1, . . . , n}<br />

A ∈ Zp n u1, . . . , un > 0 <br />

n<br />

Aijuj 0, for all i ∈ {1, . . . , n}. <br />

j=1<br />

π {1, . . . , n} <br />

<br />

Aπ(i),π(j)uπj ≻ 0, for all i ∈ {1, . . . , n}. <br />

A ∈ M p n<br />

j≥i

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