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The purpose of this book is to present a self-contained description of the fun­ damentals of the theory of nonlinear control systems, with special emphasis on the differential geometric approach. The book is intended as a graduate text as weil as a reference to scientists and engineers involved in Surveying Subjective Phenomena BEST! Nonlinear Control of Engineering Systems Rar. Tro, håb & viden Khalil, H. K., Nonlinear Systems (3rd ed., 2002, Prentice Hall, ISBN 0-13-122740-8). This is a good textbook on nonlinear control systems, at a bit more advanced level than the course. Handouts: Lecture notes and extra material will be handed out and posted on this website. 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