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1、PrefaceInthisbookseveralstreamsofnonlinearcontroltheoryaremergedanddi-rectedtowardsaconstructivesolutionofthefeedbackstabilizationproblem.Analytic,geometricandasymptoticconceptsareassembledasdesigntoolsforawidevarietyofnonlinearphenomenaandstructures.Di®er
2、ential-geometricconceptsrevealimportantstructuralpropertiesofnonlinearsystems,butal-lownomarginformodelingerrors.Toovercomethisde¯ciency,wecombinethemwithanalyticconceptsofpassivity,optimalityandLyapunovstability.Inthiswaygeometryservesasaguideforconstruct
3、ionofdesignprocedures,whileanalysisprovidesrobustnesstoolswhichgeometrylacks.Ourmaintoolispassivity.Asacommonthread,itconnectsallthechaptersofthebook.Passivitypropertiesareinducedbyfeedbackpassivationdesigns.Untilrecently,thesedesignswererestrictedtoweakly
4、minimumphasesystemswithrelativedegreeone.Ourrecursivedesignsremovetheserestrictions.Theyareapplicabletowiderclassesofnonlinearsystemscharacterizedbyfeedback,feedforward,andinterlacedstructures.Aftertheintroductorychapter,thepresentationisorganizedintwomajo
5、rparts.Thebasicnonlinearsystemconcepts-passivity,optimality,andstabil-itymargins-arepresentedinChapters2and3inanovelwayasdesigntools.MostofthenewresultsappearinChapters4,5,and6.Forcascadesystems,andthen,recursively,forlargerclassesofnonlinearsystems,wecons
6、tructde-signprocedureswhichresultinfeedbacksystemswithoptimalitypropertiesandstabilitymargins.Thebookdi®ersfromotherbooksonnonlinearcontrol.Itismoredesign-orientedthanthedi®erential-geometrictextsbyIsidori[43]andNijmeijerandVanderSchaft[84].Itcomplementsth
7、ebooksbyKrsti¶c,KanellakopoulosandKokotovi¶c[61]andFreemanandKokotovi¶c[26],bybroadeningtheclassofsystemsanddesigntools.Thebookiswrittenforanaudienceofgraduatestudents,controlengineers,andappliedmathematiciansinterestedincontroltheory.Itisself-containedand
8、accessiblewithabasicknowledgeofcontroltheoryasinAndersonandMoore[1],andnonlinearsystemsasinKhalil[56].viiviiiForclarity,mostoftheconceptsareintroducedthroughandexplainedbyexamples.Designapplicationsareillustr
