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This book is based on a course developed at Michael Okpara University, Nigeria and serves as a beginners guide to nonlinear control. The objective of this book is to present fundamental concepts of Nonlinear Control while keeping the mathematical complexity to a minimum. Throughout this text, special care has been taken to highlight problem solving techniques for various types of Nonlinear Systems. This will help the reader analyze problems in each chapter and develop systematic methods for future problem solving.