A function f:D⊂ℝ→ℝ is said to be Lipschitz if it satisfies the Lipschitz condition, that there exists a real number M≥0 such that for all x,y∈D,
\left\vert f(x) - f(y) \right\vert \leq M \left\vert x - y \right\vert.
The smallest such K is called the Lipschitz constant (Marsden and Hoffman, 1993, p. 195).