Nonlinear systems
by Hassan K. Khalil · first published 1991
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Nonlinear systems by Hassan K. Khalil (ISBN 978-0130673893) is also worth it to solidify the underlying maths!
on “Ask HN: Physicists of HN, what are you working on these days?” ↗…Kokotovic for more on this. Compared to linear control theory, nonlinear controls is much more fractured and domain-specific. No concept is as widely applicable as ones from linear controls. Khalil's Nonlinear Systems book is generally considered a top reference, but it does start to get into the PhD-level stuff and I don't recommend it to a non-specialist unless you are really into this stuff. I can give more specific…
on “PID Without a PhD (2016) [pdf]” ↗