Lyapunov-based control of robotic systems / 
Aman Behal ... [et al.] 
 - Boca Raton, FL. :  CRC Press,  2010 
 - xiv, 375 p. :  ill. ;  25 cm. 
 - Automation and control engineering .
 - Automation and control engineering .
<br/><br/>Includes bibliographical references and index 
<br/><br/><label>ISBN: </label>9780849370250 (hbk.) :  RM378.25 0849370256 (hbk.) 
<br/><br/><label>Subjects--Topical Terms: </label><br/>Robots--Control systems<br/>Nonlinear control theory<br/>Lyapunov functions