Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
This is a very good chance to understand non linear control. I read twice, when I was starting my PhD and recently (15 years) . I'd would say that you can enjoy it much more if you have solid understanding of basics.
Very complete book. Clearly made for engieneers, not mathematicians. Provides many examples that make coplicated results easy to grasp. It is a good book to understand the intuition behind the main topics on nonlinear control.