Jerzy Zabczyk 
Mathematical Control Theory [PDF ebook] 
An Introduction

Mathematical Control Theory: An Introduction presents, in a mathematically precise manner, a unified introduction to deterministic control theory. With the exception of a few more advanced concepts required for the final part of the book, this presentation requires only a knowledge of basic facts from linear algebra, differential equations, and calculus.In addition to classical concepts and ideas, the author covers the stabilization of nonlinear systems using topological methods, realization theory for nonlinear systems, impulsive control and positive systems, the control of rigid bodies, the stabilization of infinite dimensional systems, and the solution of minimum energy problems.The book will be ideal for a beginning graduate course in mathematical control theory, or for self study by professionals needing a complete picture of the mathematical theory that underlies the applications of control theory.