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This book gives a unified treatment of classical inputoutput stability theory and recent developments in nonlinear robust and passivitybased control. The synthesis between these areas is provided by the theory of dissipative systems. Specifically, the smallgain and passivity theorems and their implications for nonlinear stability and stabilization are discussed from this vantageground. The connection between L2gain and passivity via scattering is detailed.The passivity concepts are enriched by a generalised Hamiltonian formalism, emphasizing the close relations with modeling and control by interconnection. Feedback equivalence to a passive system and resulting stabilization strategies are discussed.The potential of L2gain techniques in nonlinear control is demonstrated, including a compact treatment of the nonlinear H optimal control problem. This book supplies the reader with a succinct, informative summary of a fundamental and rapidly developing area of nonlinear control theory.
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