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This volume is intended for researchers in engineering and applied
mathematics. It can also be used as a textbook for gradute students
dealing with non-linear systems and control theory. After a
self-contained treatment of the differential-geometric prerequisites,
the book deals with controlability and observability properties of
nonlinear systems, as well as various ways to obtain input-output
representations. Problems of transforming nonlinear systems into
simpler forms are discussed, including feedback linearization problem.
The disturbance and input-output decoupling problems are treated in
detail, as well as some aspects of feedback stabilization,
interconnection and inversion of nonlinear systems. Emphasis is put on
fundamental notions as (controlled) invariant distributions and
submanifolds, together with algorithms for computing the required
feedbacks. Extensions of these methods to other sysnthesis problems are
indicated in the exercises at the end of each chapter. Special
attention is paid to mechanical nonlinear control systems, and finally
the theory is extended to general continuous-time and discrete time
systems. Numerous examples and exercises illustrate the main results of
the book