## Applied Nonlinear ControlCovers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas). |

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### Contents

Introduction | 1 |

Nonlinear Systems Analysis | 14 |

Fundamentals of Lyapunov Theory | 40 |

Copyright | |

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### Common terms and phrases

adaptation law adaptive control adaptive control system analysis assume asymptotically stable autonomous systems Barbalat's lemma behavior bounded chapter closed-loop computed Consider control design control input control law control problem converge to zero corresponding defined derivative describing function desired trajectory differential equations discussed equilibrium point estimated parameters Example exponential convergence feedback linearization filter frequency gain globally asymptotically gradient implies initial conditions input-output linearization input-state linearization internal dynamics intuitive invariant set theorem limit cycle linear control linear systems linearizable Lyapunov function Lyapunov stability manipulator matrix non-autonomous systems nonlinear control nonlinear system Note output parameter error parameter estimation passive persistent excitation phase plane phase portrait plant positive constant positive definite function properties reference model relative degree result robot robust scalar function signal stability strictly positive symmetric system trajectories techniques time-varying time-varying systems time(sec torque tracking control tracking error transfer function transformation unmodeled dynamics unstable vector fields zero-dynamics