Slotine J., Li W. Applied Nonlinear Control

Prentice Hall, 1991. — 476 p. — ISBN: 0-13-040890-5.Covers 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)From Preface:
This book, based on a course developed at MIT, is intended as a textbook for senior and graduate students, and as a self-study book for practicing engineers. Its objective is to present the fundamental results of modern nonlinear control while keeping the mathematical complexity to a minimum, and to demonstrate their use and implications in the design of practical nonlinear control systems. Although a major motivation of this book is to detail the many recent developments in nonlinear control, classical techniques such as phase plane analysis and the describing function method are also treated, because of their continued practical importance.Nonlinear Systems Analysis.Phase Plane Analysis.
Fundamentals of Lyapunov Theory.
Advanced Stability Theory.
Describing Function Analysis.
Nonlinear Control Systems Design.Feedback Linearization.
Sliding Control.
Adaptive Control.
Control of Multi-Input Physical Systems.