Nonsmooth Mechanics

Nowin its third edition, this standard reference is a comprehensive treatment ofnonsmooth mechanical systems refocused to give more prominence to control andmodelling. It covers Lagrangian and Newton-Euler systems, detailing mathematicaltools such as convex analysis and complementarity theory. The ways in whichnonsmooth mechanics influence and are influenced by well-posedness analysis,numerical analysis and simulation, modelling and control are explained.Contact/impact laws, stability theory and trajectory-tracking control are givenin-depth exposition connected by a framework formed from complementaritysystems and measure-differential inclusions. Links are established withelectrical circuits with set-valued nonsmooth elements and with other nonsmoothdynamical systems like impulsive and piecewise linear systems.Nonsmooth Mechanics (thirdedition) has been substantially rewritten, edited and updated to account forthe significant body of results that have emerged in the twenty-firstcentury-including developments in: the existence and uniqueness ofsolutions; impact models; extension of the Lagrange-Dirichlet theorem andtrajectory tracking; and well-posedness of contact complementarity problemswith and without friction.With its improved bibliography of over 1,300 references andwide-ranging coverage, NonsmoothMechanics (third edition) issure to be an invaluable resource for researchers and postgraduates studyingthe control of mechanical systems, robotics, granular matter and relevantfields of applied mathematics.The book's two best features, in my view are itsdetailed survey of the literature? and its detailed presentation of many examplesillustrating both the techniques and their limitations? For readers interestedin the field, this book will serve as an excellent introductory survey.Andrew Lewis in AutomaticaIt is written with clarity, contains the latestresearch results in the area of impact problems for rigid bodies and isrecommended for both applied mathematicians and engineers.Panagiotis D. Panagiotopoulos in Mathematical ReviewsThe presentation is excellent in combining rigorousmathematics with a great number of examples? allowing the reader to understandthe basic concepts.Hans Troger in MathematicalAbstracts