Nonsmooth Mechanics / Communications and Control Engineering (PDF)

Now
in its third edition, this standard reference is a comprehensive treatment of
nonsmooth mechanical systems refocused to give more prominence to control and
modelling. It covers Lagrangian and Newton-Euler systems, detailing mathematical
tools such as convex analysis and complementarity theory. The ways in which
nonsmooth mechanics influence and are influenced by well-posedness analysis,
numerical analysis and simulation, modelling and control are explained.
Contact/impact laws, stability theory and trajectory-tracking control are given
in-depth exposition connected by a framework formed from complementarity
systems and measure-differential inclusions. Links are established with
electrical circuits with set-valued nonsmooth elements and with other nonsmooth
dynamical systems like impulsive and piecewise linear systems.

Nonsmooth Mechanics (third
edition) has been substantially rewritten, edited and updated to account for
the significant body of results that have emerged in the twenty-first
century-including developments in: the existence and uniqueness of
solutions; impact models; extension of the Lagrange-Dirichlet theorem and
trajectory tracking; and well-posedness of contact complementarity problems
with and without friction.

With its improved bibliography of over 1,300 references and
wide-ranging coverage, Nonsmooth
Mechanics (third edition) is
sure to be an invaluable resource for researchers and postgraduates studying
the control of mechanical systems, robotics, granular matter and relevant
fields of applied mathematics.

The book's two best features, in my view are its
detailed survey of the literature... and its detailed presentation of many examples
illustrating both the techniques and their limitations... For readers interested
in the field, this book will serve as an excellent introductory survey.

Andrew Lewis in Automatica

It is written with clarity, contains the latest
research results in the area of impact problems for rigid bodies and is
recommended for both applied mathematicians and engineers.

PanagiotisD. Panagiotopoulos in Mathematical Reviews

The presentation is excellent in combining rigorous
mathematics with a great number of examples... allowing the reader to understand
the basic concepts.

Hans Troger in Mathematical
Abstracts