Analysis And Control of Nonlinear Systems

The primary emphasis of this book is the modeling, analysis, and control of mechanical systems. The methods and results presented can be applied to a large class of mechanical control systems, including applications in robotics, autonomous vehicle control, and multi-body systems. The book is unique in that it presents a unified, rather than an inclusive, treatment of control theory for mechanical systems. A distinctive feature of the presentation is its reliance on techniques from differential and Riemannian geometry.

This book is a tribute to Prof.

This book has been prepared as a tribute to Prof. Alberto Isidori on the occasion of his 65th birthday.