The book summarizes Lyapunov design techniques for nonlinear systems and raises important issues concerning large-signal robustness and performance. This is an affordable new softcover edition of a bestselling text. The authors have been the first to address some of these issues, and they report their findings in this text. The researcher who wishes to enter the field of robust nonlinear control could use this book as a source of new research topics. For those already active in the field, the book may serve as a reference to a recent body of significant work. Finally, the design engineer faced with a nonlinear control problem will benefit from the techniques presented here.