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Why Nonlinear Control zContemporary control problems require it, zRobotics, ground vehicles, propulsion systems, electric power systems, aircraft & spacecraft, autonomous vehicles, manufacturing processes, chemical & material processing,… zSmooth (soft) nonlinearities zthe system motion may not remain sufficiently close to an equilibrium point that the Various types of stability may be discussed for the solutions of differential equations or difference equations describing dynamical systems.The most important type is that concerning the stability of solutions near to a point of equilibrium. The current retitled publication is IEEE Transactions on Neural Networks and Learning Systems. This may be discussed by the theory of Lyapunov. The current retitled publication is IEEE Transactions on Neural Networks and Learning Systems. 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