"This book describes how Lyapunov-based techniques can be used to design nonlinear controllers for mechanical systems... The text is well written, easy to read, and many examples clarify the theoretical discussions. The book can be useful both to newcomers in the field and to graduate students and researchers in the area of control applications." -Zentralblatt Math "This book deals with Lyapunov-based control techniques. It gives a rather complete and at the same time technically accurate overview of the modern state of the art in control methods using Lyapunov functions... The reviewed material is intended for an audience of researchers and graduate students in the area of control applications." -Mathematical Reviews