Geometric Control of Mechanical Systems

the long version

"The primary emphasis of this book is the modeling, analysis, and control of mechanical systems. The methods and results presented can be applied to a large class of mechanical control systems, including applications in robotics, autonomous vehicle control, and multi-body systems. The book presents a unified, rather than an inclusive, treatment of control theory for mechanical systems. A distinctive feature of the presentation is its reliance on techniques from differential and Riemannian geometry. The book contains extensive examples and exercises, and will be suitable for a growing number of courses in this area." "Nonlinear control theoreticians will find explicit links between concepts in geometric mechanics and nonlinear control theory. Researchers in mechanics will find an overview of topics in control theory that have relevance to mechanics."--Jacket.