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The webpage tutorial accompanying this video is given here:
https://aleksandarhaber.com/introduction-to-direct-lyapunov-stability-analysis-with-examples/
In this tutorial, we provide an introduction to Lyapunov's stability analysis of dynamical systems. We state the Lyapunov stability theorem, and explain how to construct the Lyapunov function by using physical intuition about the system. We explain how to construct the Lyapunov function for the pendulum dynamical system.