Nonlinear Control of Engineering Systems

Recent advancements in Lyapunov-based design and analysis
techniques have applications to a broad class of engineering systems,
including mechanical, electrical, robotic, aerospace, and
underactuated systems.   This book provides a practical yet rigorous
development of nonlinear, Lyapunov-based tools and their use in the
solution of control-theoretic problems. Rich in motivating examples
and new design techniques, the text balances theoretical foundations
and real-world implementation.
      Features include:
* Control designs for a broad class of engineering systems
* Presentation of adaptive and learning control methods for uncertain
nonlinear systems
* Experimental testbed descriptions and results that guide the reader
toward techniques for further research
* Development of necessary mathematical background in each chapter;
additional mathematical prerequisites contained in two appendices
      Intended for readers who have some knowledge of undergraduate
systems theory, the book includes a wide range of applications making
it suitable for an extensive audience. Graduate students and
researchers in control systems, robotics, and applied mathematics, as
well as professional engineers will appreciate the work's combination
of theoretical underpinnings and current and emerging engineering
applications.