This practical yet rigorous book provides a 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.

Introduction Mechanical Systems Electrical Machines Robotic Systems Aerospace Systems Underactuated Systems Appendices A. Mathematical Background B. Supplementary Lemmas and Definitions Bibliography Index