In this text, multivariable nonlinear control techniques based on differential geometry are considered. It provides a systematic approach to geometric nonlinear control theory. A case study of an industrial evaporator is used as an example throughout the entire book. Various other examples are also used throughout the text to illustrate the theory. The simulations were done using the symbolic computation package MAPLE. Discussions are given on the application of symbolic computation on process engineering.

The series Advances in Industrial Control aims to report and encourage technology transfer in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications, new philosophies ..., new challenges. Much of this development work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended exposition of such new work...