Before revision:  The  proposed approach is more general than existing methods as it is able to handle unmatched uncertainties while only requiring the system be nominally contracting in closed-loop.
After revision:  The analysis is first presented under the lens of contraction theory, and then expanded to general Lyapunov functions which can be synthesized via feedback linearization, backstepping, or optimization-based techniques. The proposed approach is more general than existing methods as it is able to handle unmatched uncertainties while only requiring the system be nominally contracting in closed-loop.