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The book consists of six chapters and two appendices with additional mathematical prerequisites. In Chapter~1, several examples are treated to show some of the pitfalls experienced by linear systems theory (limitations of linearization, loss of tracking performance, and peaking phenomena). In Chapter~2, control applications for certain mechanical systems (autobalancing systems, dynamically positioned ships, Euler-Langrange systems) are examined. In Chapter~3, controllers are developed for electrical machines, described by electrical and mechanical subsystem dynamics (induction motor, switched reluctance motor, active magnetic bearing system). In Chapter~4, several different robotic applications (learning control, position and force control, visual servo control) are examined. Chapter~5 presents various aerospace applications (attitude tracking, energy/power and attitude tracking, formation flying). 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