\[ V(x) = x^T P x, \quad \Delta V = V(x(k+1)) - V(x(k)) \] \[ \Delta V \leq -x(k)^T Q x(k) + \mathbb{E}[w(k)^T R w(k)] \] \[ \text{where: } P > 0, \; Q > 0, \; R \geq 0 \]