Geometric Nonlinear Control

  • Shankar Sastry
Part of the Interdisciplinary Applied Mathematics book series (IAM, volume 10)


In this chapter, we give the reader a brief introduction to controllability and observability of nonlinear systems. We discuss topics of constructive controllability for nonlinear systems, that is, algorithms for steering the system from a specified initial state to a specified final state. This topic has been very much at the forefront of research in nonlinear systems recently because of the interest in non-holonomic systems. We give a reader of the power of differential geometric methods for nonlinear control when we discuss input-output expansions for nonlinear systems and disturbance decoupling problems using appropriately defined invariant distributions.


Vector Field Nonholonomic System Nonlinear Control System Optimal Input Zero Dynamic 
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Copyright information

© Springer Science+Business Media New York 1999

Authors and Affiliations

  • Shankar Sastry
    • 1
  1. 1.Department of Electrical Engineering and Computer ScienceUniversity of California, BerkeleyBerkeleyUSA

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