Nonlinear Control Design Philosophies

This chapter focuses on the design of control techniques for various classes of nonlinear systems. Stability theory and mathematical tools previously discussed serve as the framework to ensure stability of the closed-loop system. The motivation behind delving into nonlinear control emerges from the need to control systems whose behavior cannot be adequately modeled by linear system dynamics. Nonlinear control is a field that addresses the challenges posed by nonlinear systems, aiming to achieve desired performance objectives. However, it is worth reiterating that nonlinear systems, by definition, are not necessarily linear systems, and hence, the nonlinear control design techniques are equally valid for linear systems as well.