Nonlinear control and analytical mechanics come together in areas such as space systems design, robotics, vehicle design, and biomechanics. This easily accessible book gives an integrated treatment of non-linear control and analytical mechanics, highlighting the computational infrastructure common to both areas. The authors introduce computer algebra tools that facilitate model building, systems design and code generation, and present many illustrative examples. The accompanying CD-ROM includes symbolic computation tools developed by the authors as well as Mathematica notebooks that illustrate the problems.
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