stability of homogeneous solution eRA Ra R R trace <0 R+1(R+1)2 det >o 2AO Q」L2(R+1)Q or in general R-1 real part of eigenvalues>0 <2 R+1 Q>0 inhomogeneous A(S,r)=A+A(S,7) solution: /(S,7)=I+/(S)stability of homogeneous solution ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎣ ⎡ + − + − + − = ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎣ ⎡ − − − R Q Q R R R R A Q Q I RA I RA 2 ( 1 ) 1 ( 1 ) 1 2 1 2 2 2 2 trace < 0 det > 0 0 1 1 > < + − Q Q R R or in general real part of eigenvalues > 0 ( , ) '( , ) ( , ) '( , ) τ τ τ τ I s I I s A s A A s = + inhomogeneous = + solution: 4