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Given a non-linear, time-variant system with a state-space representation, how would you determine the stability margins using Lyapunov's direct method, considering the system's eigenvalue spectrum and the associated Lyapunov function candidate?
Given a non-linear, time-variant system with a state-space representation, how would you determine the stability margins using Lyapunov's direct method, considering the system's eigenvalue spectrum and the associated Lyapunov function candidate?