Consider the following paper:
The methodology is understood in this paper apart from some technical things; How did the author arrive at constants $m_i, i=1,...,5$? They achieved this by killing the variable terms($xu, xv, z, u, v, yu, yv$), however when I try solving the system, it outputs all $m_i$'s equalling zero. Can someone show a detailed answer how they arrived at these constants and how they got their final form of the Lyapunov function(page 168)?