A resource for mechanical and control engineers at all levels, from graduates to professionals and practitioners. This book highlights and utilizes the computational infrastructure common to both modern analytical mechanics and nonlinear control. An integrated approach gives a set of models and control design examples that are contemporary and practical. There are instructions for building explicit mathematical models for engineering design as well as simplified models for easier use. A CD-ROM provides extensive examples and exercises using Mathematica
notebooks and programs.
Introduction | Introduction to Dynamical Systems | Introduction to Differential Geometry | Kinematics of Tree Structures | Dynamics | Smooth Affine Control Systems | Robust and Adaptive Control Systems | Variable Structure Control | Appendix & Reference Tables