Applied Nonlinear Control

In this work, the authors present a global perspective on the methods available for analysis and design of non-linear control systems and detail specific applications. They provide a tutorial exposition of the major non-linear systems analysis techniques followed by a discussion of available non-linear design methods. The text includes a systematic presentation of feedback linearization, adaptive control and parameter estimation and sliding control. It also contains coverage of analysis design and applications, including recent results in non-linear control system design and robotics.