This book deals with the application of modern control theory to some important underactuated mechanical systems, from the inverted pendulum to the helicopter m

A modern mechanical structure must work at high speed and with high precision in space and time, in cooperation with other machines and systems. All this requir

The book first introduces the concept of nonlinear normal modes (NNMs) and their two main definitions. The fundamental differences between classical linear norm

The area of analysis and control of mechanical systems using differential geometry is flourishing. This book collects many results over the last decade and prov