24 2.2 23 24 25 a 32 33 34 44 42 43 5. 52 53 54 55 5.6 5.7 CONTENTS PREFACE ix NOTETO THE READER xi INTRODUCTION 1 NONLINEAR DIFFERENTIAL EQUATIONS 6 Mathematical Preliminaries 6 Induced Norms and Matrix Measures 19 Contraction Mapping Theorem 27 Nonlinear Differential Equations 33 Solution Estimates 46 SECOND-ORDERSYSTEMS 53 Preliminaries 53 Linearization Method 57 Periodic Solutions 67 ‘Two Analytical Approximation Methods 79 APPROXIMATE ANALYSIS METHODS 88 Describing Functions 88 Periodic Solutions: Rigorous Arguments 109 Singular Perturbations 127 LYAPUNOV STABILITY 135 Stability Definitions 135 Some Preliminaries 147 Lyapunov’s Direct Method 157 Stability of Linear Systems 193 Lyapunov’s Linearization Method 209 The Lur’e Problem 219 Converse Theorems 235 vii