Given a Safe Set $$\mathcal{C}= \{ x\in D\subset\mathbb{R}^{n}:h(x)\ge 0 \}$$$h(x)$ is a control barrier function (CBF) for an Affine Control System if there exists a Class Κ function $\alpha$ such that $$\sup_{u\in \mathbb{U}}[L_{f}h(x)+L_{g}h(x)u+\alpha(b(x))]\ge 0,\quad\forall x\in \mathcal{C}$$where $L_{f},L_{g}$ denote the Lie derivatives along $f$ and $g$, respectively. It is assumed that $L_{g}h(x)\not=0$ when $h(x)=0$.