The design of nonlinear controllers for mechanical systems has been an ex tremely active area of research in the last two decades. From a theoretical point of view, this attention can be attributed to their interesting dynamic behavior, which makes them suitable benchmarks for nonlinear control the oreticians. On the other hand, recent technological advances have produced many real-world engineering applications that require the automatic con trol of mechanical systems. the mechanism for de Often, Lyapunov-based techniques are utilized as veloping different nonlinear control structures for...

This work presents nonlinear control algorithms for a benchmark mechanical system actuated by different types of electric machinery, emphasizing system stability and robustness - pivotal in the development of optimal position trajectory controllers for common motors. student price, available on request from Marcel Dekker.