When M. Vidyasagar wrote the first edition of Nonlinear Systems Analysis, most control theorists considered the subject of nonlinear systems a mystery. Since then, advances in the application of differential geometric methods to nonlinear analysis have matured to a stage where every control theorist needs to possess knowledge of the basic techniques because virtually all physical systems are nonlinear in nature. The second edition provides a rigorous mathematical analysis of the behaviour of nonlinear control systems under a variety of situations. It develops nonlinear generalizations of a large number of techniques and methods widely used in linear control theory. The book contains three long chapters devoted to the key topics of Lyapunov stability, input-output stability, and the treatment of differential-geometric control theory. In addition, it includes a great deal of valuable reference material in these chapters that is unavailable elsewhere. The text also features a large number of problems that allow readers to test their understanding of the subject matter and self-contained sections and chapters that allow readers to focus in on a particular topic easily.