The design of nonlinear controllers for mechanical systems has been an ex tremely active area of research in the last two decades. From a theoretical point of v

This practical yet rigorous book provides a development of nonlinear, Lyapunov-based tools and their use in the solution of control-theoretic problems. Rich in

Nonlinear Dynamical Systems and Control presents and develops an extensive treatment of stability analysis and control design of nonlinear dynamical systems, wi

This book deals with the application of modern control theory to some important underactuated mechanical systems, from the inverted pendulum to the helicopter m

Reinforcement Learning for Optimal Feedback Control develops model-based and data-driven reinforcement learning methods for solving optimal control problems in