Nonlinear Control of Engineering Systems

Recent advancements in Lyapunov-based design and analysistechniques have applications to a broad class of engineering systems,including mechanical, electrical, robotic, aerospace, andunderactuated systems. This book provides a practical yet rigorousdevelopment of nonlinear, Lyapunov-based tools and their use in thesolution of control-theoretic problems. Rich in motivating examplesand new design techniques, the text balances theoretical foundationsand real-world implementation.Features include: Control designs for a broad class of engineering systems Presentation of adaptive and learning control methods for uncertainnonlinear systems Experimental testbed descriptions and results that guide the readertoward techniques for further research Development of necessary mathematical background in each chapter;additional mathematical prerequisites contained in two appendicesIntended for readers who have some knowledge of undergraduatesystems theory, the book includes a wide range of applications makingit suitable for an extensive audience. Graduate students andresearchers in control systems, robotics, and applied mathematics, aswell as professional engineers will appreciate the work's combinationof theoretical underpinnings and current and emerging engineering applications.