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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.^=&= A Division of Simon & SchusterT k Englewood Cliffs, New Jersey 07632 All rights reserved.

Introduction 1 1.1 Why Nonlinear Control ? 1 ... 9.3.3 Robotics as a Metaphor 419 9.4 Spacecraft Control 422 9.4.1 The Spacecraft Model 422 9.4.2 Attitude Control 425 ... many practical nonlinear control systems have been developed, ranging from digital "fly-by-wire" flight control systems for aircraft, to "drive-by-wire" automobiles, to ...

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