Non-linear dynamical control systems

Contents: Introduction.- Manifolds, Vectorfields, Lie Brackets, Distributions.- Controllability and Observability, Local Decompositions.- Input-Output Representations.- State Space Transformation and Feedback.- Feedback Linearization of Nonlinear Systems.- Controlled Invariant Distribution and the Disturbance Decoupling Problem.- The Input-Output Decoupling Problem: Geometric Considerations.- Local Stability and Stabilization of Nonlinear Systems.- Controlled Invariant Submanifolds and Nonlinear Zero Dynamics.- Mechanical Nonlinear Control Systems.- Controlled Invariance and Decoupling for General Nonlinear Systems.- Discrete-Time Nonlinear Control Systems.- Subject Index.