> **Scope:** Chapters 1–4 of MWG; Notes [2.1 Preference Relations](2.1_Preference_Relations.qmd) through [2.8 Aggregate Demand](2.8_Aggregate_Demand.qmd) > **Instructions:** Provide complete proofs ...

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Abstract: In this article, we study the problem of co-designing control barrier functions (CBFs) and affine state feedback controllers for continuous-time linear systems. The co-design problem is ...