Nonlinear Control of Engineering Systems: A Lyapunov-Based ApproachRecent advancements in Lyapunov based design and analysis techniques have applications to a broad class of engineering systems, including mechanical, electrical, robotic, aerospace, and underactuated systems. This book provides a practical yet rigorous development of nonlinear, Lyapunov based tools and their use in the solution of control theoretic problems; includes a wide range of applications, motivating examples, and new design techniques making