Errata: Global Lyapunov stability requires additional conditions

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Location: page 121, line 5-6

In the discussion about global stability at the end of the section on Regions of Attraction, there are additional conditions required for a Lyapunov function to guarantee global stability. The text should read

It is sometimes the case that we can find a Lyapunov function such that is positive definite and is negative (semi-) definite for all . In many instances it can then be shown that the region of attraction for the equilibrium point is the entire state space, and the equilibrium point is said to be globally stable.

(Contributed by G. Buzi, 31 Mar 09)