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The fault tolerance to the tuple space is guaranteed using replication [14, 15] over PBFT [11].

Stability of the closed-loop system is guaranteed using the supermartingale theory.

The stability of the PID sliding surface is guaranteed using Lyapunov stability theory.

Stability of the overall system is guaranteed using the small gain theorem.

The stability of the controller is guaranteed using the Lyapunov technique.

Stability of the adaptive controller structure is guaranteed using a Lyapunov function approach.

Then, constraint satisfaction is guaranteed using a novel Reference Governor scheme.

Asymptotical stability of the closed loop system is guaranteed, using the Lyapunov direct method.

Using the idea of parallel distributed compensation (PDC) method, the closed-loop stability of the overall networked system is guaranteed, using new linear matrix inequalities (LMIs).

The exact part is generated by a potential, hence stability of this part is guaranteed using the generating potential as a Lyapunov function.

The equations of wheelset motion are deducted using virtual work principal, and the convergence of the model is guaranteed using integral by parts, which has not been treated in previous work.