Title: Excellent for self-study.
Product review: I specialize in Dynamics and Controls. I found this book great for acquiring (some of) the necessary mathematics to get into a more serious study of mathematical control theory. It also boosted my capacity to closely follow some journal articles in control theory. People with the average graduate preparation in controls may skip the first four chapters and start with metric spaces. The book is not, however, adequate for studying Lie algebra as needed in controls (and robotics) as pointed out by the reviewer from Japan. It only defines Lie algebra in a very general way, and does not get into Lie algebras of vector fields, which is what we need for geometric control. The book contains, however, valuable applications of the theory to optimal control and estimation, as well as a clear exposition of existence and uniqueness of solutions to ODEs.
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