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Slotine • Li APPLIED NONLINEAR CONTROL

Slotine Li APPLIED NONLINEAR CONTROL ! iAPPLIEDNONLINEARCONTROLJean-Jacques E SlotineWeiping LiAppliedNonlinearControlJEAN-JACQUES E. SLOTINEM assachusetts Institute of TechnologyWEIPING LIMassachusetts Institute of Technology'Prentice HallEnglewood Cliffs, New Jersey 07632 Library of Congress Cataloging-in-Publication DataSlotine, E. (Jean-Jacques E.) APPLIED NONLINEAR CONTROL / Jean-Jacques E. Slotine , Weiping Lip. bibliographical 0-13-040890-51, NONLINEAR CONTROL theory. I. Li, Weiping. II. 1991 '312-dc20 C1 PEditorial/production supervision andinterior design: JENNIFER WENZELC over design: KAREN STEPHENSM anufacturing Buyer: LORI BULWIN=^= 1991 by Prentice-Hall, Inc.

6.4 Input-Output Linearization of SISO Systems 246 6.5 * Multi-Input Systems 266 6.6 Summary 270 6.7 Notes and References 271 6.8 Exercises 271 7. Sliding Control 276 7.1 Sliding Surfaces 277 7.1.1 A Notational Simplification 278 7.1.2 * Filippov's Construction of the Equivalent Dynamics 283 7.1.3 Perfect Performance - At a Price 285

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