Question: ( The global stability of the dual algorithm ) Recall the dual algorithm xr = U 0 r 1 ( qr ) pl = hl

(The global stability of the dual algorithm) Recall the dual algorithm
xr = U
0
r 1(qr)
pl = hl(yl cl)+
pl
.
Prove that the dual algorithm is globally, asymptotically stable when the routing matrix R has full
row rank, i.e., given q, there exists a unique p which satisfies q = RT p

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