Lagrangian Mechanics, Dynamics and Control

Andrew D. Lewis0-13-228024-8, 0-387-90668-1, 0-387-97234-X, 0-387-98489-5

Adopting an intuitive, yet rigorous approach, this work provides extensive coverage of nonlinear systems and control theory. Student-friendly language, an abundance of detailed, worked examples, and progressively more sophisticated mathematics make the text appropriate and accessible to a range of student interests and levels. This edition extends coverage of input-output stability, feedback linearization and small-theorem, and adds coverage of passivity approach, back stepping control design, sliding mode control, numerical construction of phase portraits, comparison principle, comparison method, input-output linearization, differential geometric approach, extended linearization and over 100 new problems.