Nonlinear Systems: Dynamics and Control v. 1

This work describes the applications of nonlinear systems and control in engineering and other fields. The book draws upon examples from robotics, power generation, chemical plants, immunology, space propulsion and vehicle control and considers the principles of mathematical modelling as the basis for nonlinear systems and control, including rigid body dynamics, robotics, nuclear fission and heat transfer. The text also emphasizes Lyapunov's direct method and its role in time-domain adaptive controller design.