It is my ambition in writing this book to bring tribology to the study of control of machines with friction. Tribology, from the greek for study of rubbing, is

This book introduces the basic concepts of contact mechanics, friction, lubrication, and wear mechanisms, providing simplified analytical relationships that are

It is my ambition in writing this book to bring tribology to the study of control of machines with friction. Tribology, from the greek for study of rubbing, is

The design of nonlinear controllers for mechanical systems has been an ex tremely active area of research in the last two decades. From a theoretical point of v