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
Proof Existence and uniqueness of r(t, u)and A(t)follow from Theorem 3. 1. Hence, in order to prove differentiability and the formula for the derivative, it is sufficient to show that there exist a function C: R++R+ such that C(r)/r-0 as r-0 and E>0 such