where f:R\×Rn×R→ R\ and g:R\×R\×R→ R are continuous functions. Assume that f, g are continuously differentiable with respect to their first two arguments in a neigborhood of the trajectory co(t), yo(t), and that the derivative
复合函数求导法则 定理4.4.1 (复合函数求导法则) 设函数u gx = ( )在 x x = 0可导, 函数 y fu = ( )在u u gx = 0 0 = ( )处可导,则复合函数 y f gx = ( ( ))在 x x = 0可 导,且有 [ ( ))] ( ) ) f gx f u g x x x ( ′ = ′ ′( = 0 0 0 = f gx g x ′( )) ) ( ′( 0 0