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(More customer reviews)This is a very well written book on a difficult subject. A thorough study of "simple mechanical control systems" needs a background in Differential Geometry and students are faced with a great challenge in finding good references. Lewis and Bullo take that challenge and deliver this profoundly useful text. This book provides excellent chapters on the relavent concepts in basic algebra, differential geometry and Lie algebra. Then it introdues the simple mechanical systems in a very readable way. Concepts such as the configuration manifold, rigid bodies, kinetic energy, Riemannian metric etc are well explained in a general setting that the reader can draw analogies to Newtonian mechanics in Euclidean space. Book further discusses more advance topics such as Stability, Controllability and Perturbation analysis etc in Part II. Part III discusses design methodologies. There are plenty of exercises in the book and the website is very resourceful with supplementary material. This is a great addition to the collection of books by Abraham, Marsden, Arnol'd etc, and a must have for all graduate students working on this area.
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The area of analysis and control of mechanical systems using differential geometry is flourishing. This book collects many results over the last decade and provides a comprehensive introduction to the area.
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