Vincent T.L. Grantham W.J. Nonlinear and Optimal Control Systems

Wiley, Chichester, 1997. — 574 p. — ISBN 0-471-04235-8.
Designed for one-semester introductory senior-or graduate-level course, the authors provide the student with an introduction of analysis techniques used in the design of nonlinear and optimal feedback control systems. There is special emphasis on the fundamental topics of stability, controllability, and optimality, and on the corresponding geometry associated with these topics. Each chapter contains several examples and a variety of exercises.