A trend of investigation of Nonlinear Control Systems has been present over the last few decades. As a result the methods for its analysis and design have improved rapidly. This book includes nonlinear design topics such as Feedback Linearization, Lyapunov Based Control, Adaptive Control, Optimal Control and Robust Control. This is simply the best book written on nonlinear control theory. The contents form the basis for feedback linearization techniques, nonlinear observers, sliding mode control, understanding relative degree, nonminimum phase systems, exact linearization, and a host of other topics. The purpose of this book is to present a selfcontained description of the fun damentals of the theory of nonlinear control systems, with special emphasis on the differential geometric approach. The book also demonstrates the behavior of nonlinear control systems under various different situations. The book generates nonlinear techniques and methods which are. 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The purpose of this book is to present a selfcontained description of the fun damentals of the theory of nonlinear control systems The book is concerned with the effects of nonlinearity in feedback control systems and techniques which can be used to design feedback loops containing nonlinear elements. Skip navigation Download free eBooks and textbooks.