NEW - Updated to include subjects which have proven useful in nonlinear control design in recent years—New in the 3rd edition are: expanded treatment of passivity and passivity-based control; integral control, high-gain feedback, recursive methods, optimal stabilizing control, control Lyapunov functions, and observers. Moreover, bifurcation is introduced in the context of second-order systems. NEW - Over 170 new exercises. NEW - The proof of the existence and uniqueness theorem has been moved to an appendix. Prevents students from dealing with the contraction mapping principle in such an early chapter. Ex.___ NEW - Web page (www.prenhall.com/khalil)—Contains information about the book, detailed description of changes from previous editions, hints on how to organize courses around the textbook, corrections, additional exercises with or without solutions. Self-contained chapters—Starting from Chapter 5, all the chapters are written to be self-contained or to use limited information from previous chapters. Allows for greater flexibility.