Control Theory of Nonlinear Mechanical Systems : A Passivity-based and Circuit-theoretic Approach

You will find robot arms and mechanical hands in almost every modern manufacturing plant in the world. However the problem of their efficient control is a considerable one due to their limtited dexterity and understanding the control of robotic motion is vital in their design. This book concerns itself with the theory and practise of these control problems. It devotes itself to the analysis of the physical and mathematical principles underlying such complicated dynamics in nonlinear mechanical systems and to the design of controllers that make the systems execute sophisticated tasks. This book marks a milestone not only in the development of a control theory for advanced mechatronic systems but also in the long path toward understanding the mysteries of motor control in the human central nervous system.