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              <p>This paper proposes a novel sufficient condition for the leaky-integrator echo state network controller design based on Incremental Input-to-State Stability criteria for discrete-time systems. The controller design conditions are derived via Linear Matrix Inequalities. A novel leaky-integrator echo state network-based controller structure is presented, demonstrating enhanced system performance. The simulation results highlight the performance improvements achieved by adopting the proposed controller structure.</p>
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