• Rogelio Lozano
  • Bernard Brogliato
  • Olav Egeland
  • Bernhard Maschke
Part of the Communications and Control Engineering book series (CCE)


In this Appendix we present the background for the main tools used throughout the book; namely, Lyapunov theorem, differential geometry, and input—output methods. No proofs of the various theorems and lemmas are given, and the reader is referred to the cited literature.


Equilibrium Point Asymptotic Stability Global Asymptotic Stability Stability Concept Lyapunov Direct Method 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Further reading

  1. [116]
    A.M. Lyapunov, 1907 The General Problem of Motion Stability, in Russian, 1892; translated in French, Ann. Faculté des Sciences de Toulouse, pp. 203–474.Google Scholar
  2. [98]
    J. La Salle, S. Lefschetz, 1961 Stability by Liapunov’s Direct Method, Academic Press, New York, NY.Google Scholar
  3. [100]
    S. Lefschetz, 1962 Stability of Nonlinear Control Systems, Academic Press, New York, NY.Google Scholar
  4. [206]
    M. Vidyasagar, 1993 Nonlinear Systems Analysis,2nd Edition, Prentice Hall.Google Scholar
  5. [88]
    H.K. Khalil, 1992 Nonlinear systems, MacMillan, NY.MATHGoogle Scholar
  6. [64]
    W. Hahn, 1967 Stability of Motion, Springer-Verlag, New York, NY.Google Scholar
  7. [72]
    A. Isidori, 1989 Nonlinear Control Systems,2nd edition„ Springer.Google Scholar
  8. [148]
    H. Nijmeier, A.J. van der Schaft, 1990 Nonlinear Dynamical Control Systems, Springer Verlag, New-York.CrossRefGoogle Scholar

Copyright information

© Springer-Verlag London 2000

Authors and Affiliations

  • Rogelio Lozano
    • 1
  • Bernard Brogliato
    • 2
  • Olav Egeland
    • 3
  • Bernhard Maschke
    • 4
  1. 1.Heudiasyc, Université de Technologie de CompiègneCompiègneFrance
  2. 2.LAG-CNRSDomaine UniversitaireSaint Martin d’HèresFrance
  3. 3.Department of Engineering CyberneticsNorwegian University of Science and TechnologyTrondheimNorway
  4. 4.Laboratoire d’Automatisme IndustrielConservatoire national des arts et métiersParis Cedex 03France

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