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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.

5.4 Describing Function Analysis of Nonlinear Systems 179 5.4.1 The Nyquist Criterion and Its Extension 180 5.4.2 Existence of Limit Cycles 182 5.4.3 Stability of Limit Cycles 184 5.4.4 Reliability of Describing Function Analysis 186 5.5 Summary 187 5.6 Notes and References 188 5.7 Exercises 188 Part II: Nonlinear Control Systems Design 191

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