Table of contents:
1 Introduction --
1.1 Nonlinear Models --
1.2 Nonlinear Phenomena --
1.3 Overview of the Book --
1.4 Exercises --
2 Two-Dimensional Systems --
2.1 Qualitative Behavior of Linear Systems --
2.2 Qualitative Behavior Near Equilibrium Points --
2.3 Multiple Equilibria --
2.4 Limit Cycles --
2.5 Numerical Construction of Phase Portraits --
2.6 Exercises --
3 Stability of Equilibrium Points --
3.1 Basic Concepts --
3.2 Linearization --
3.3 Lyapunov's Method --
3.4 The Invariance Principle --
3.5 Exponential Stability --
3.6 Region of Attraction 3.7 Converse Lyapunov Theorems --
3.8 Exercises --
4 Time-Varying and Perturbed Systems --
4.1 Time-Varying Systems --
4.2 Perturbed Systems --
4.3 Boundedness and Ultimate Boundedness --
4.4 Input-to-State Stability --
4.5 Exercises --
5 Passivity --
5.1 Memoryless Functions --
5.2 State Models --
5.3 Positive Real Transfer Functions --
5.4 Connection with Stability --
5.5 Exercises --
6 Input-Output Stability --
6.1 L Stability --
6.2 L Stability of State Models --
6.3 L2 Gain --
6.4 Exercises --
7 Stability of Feedback Systems --
7.1 Passivity Theorems --
7.2 The Small-Gain Theorem 7.3 Absolute Stability --
7.3.1 Circle Criterion --
7.3.2 Popov Criterion --
7.4 Exercises --
8 Special Nonlinear Forms --
8.1 Normal Form --
8.2 Controller Form --
8.3 Observer Form --
8.4 Exercises --
9 State Feedback Stabilization --
9.1 Basic Concepts --
9.2 Linearization --
9.3 Feedback Linearization --
9.4 Partial Feedback Linearization --
9.5 Backstepping --
9.6 Passivity-Based Control --
9.7 Control Lyapunov Functions --
9.8 Exercises --
10 Robust State Feedback Stabilization --
10.1 Sliding Mode Control --
10.2 Lyapunov Redesign --
10.3 High-Gain Feedback --
10.4 Exercises 11 Nonlinear Observers --
11.1 Local Observers --
11.2 The Extended Kalman Filter --
11.3 Global Observers --
11.4 High-Gain Observers --
11.5 Exercises --
12 Output Feedback Stabilization --
12.1 Linearization --
12.2 Passivity-Based Control --
12.3 Observer-Based Control --
12.4 High-Gain Observers and the Separation Principle --
12.5 Robust Stabilization of Minimum Phase Systems --
12.5.1 Relative Degree One --
12.5.2 Relative Degree Higher Than One --
12.6 Exercises --
13 Tracking and Regulation --
13.1 Tracking --
13.2 Robust Tracking --
13.3 Transition Between Set Points 13.4 Robust Regulation via Integral Action --
13.5 Output Feedback --
13.6 Exercises --
A Examples --
A.1 Pendulum --
A.2 Mass-Spring System --
A.3 Tunnel-Diode Circuit --
A.4 Negative-Resistance Oscillator --
A.5 DC-to-DC Power Converter --
A.6 Biochemical Reactor --
A.7 DC Motor --
A.8 Magnetic Levitation --
A.9 Electrostatic Microactuator --
A.10 Robot Manipulator --
A.11 Inverted Pendulum on a Cart --
A.12 Translational Oscillator with Rotating Actuator --
B Mathematical Review --
C Composite Lyapunov Functions --
C.1 Cascade Systems --
C.2 Interconnected Systems

Summary:
For a first course on nonlinear control that can be taught in one semesterThis book emerges from the award-winning book, Nonlinear Systems, but has a distinctly different mission andorganization. While Nonlinear Systems was intended as a reference and a text on nonlinear system analysis and its application to control, this ...