Nonlinear Systems Analysis

This work provides coverage of the analytical foundations of various aspects of nonlinear systems, including solutions, approximate analysis methods and stability theory from both the Lyapunov and the input-output viewpoints. The book presents the mathematical approach to the study of nonlinear systems; includes coverage of differential geometric methods for nonlinear systems (including recent research findings); covers nonlinear reachability and feedback linearization and both discrete-time and continuous-time systems; and incorporates real examples with applications in robotics, adaptive control and other fields to illustrate the theorums.