Nonlinear Control of Engineering Systems: A Lyapunov-Based Approach - [Book Review]

April 2005 IEEE Control Systems Magazine While the author does discuss the geometric meaning of notions such as virtual displacements at places, the goal of the book is not to clarify the geometric foundations of the subject. The single overriding goal of the book is to provide readers with a wide array of techniques for modeling complex mechanical systems involving nonholonomic multibody dynamics, Coulomb friction, and impulsive effects, in the most convenient manner using the most convenient variables possible. In my opinion, this goal is admirably achieved.