Contents -- Preface to English Edition -- Preface -- Part I: Devices containing a single-link pendulum -- 1. A pendulum with stationary pivot -- 2. A pendulum with wheel-based pivot -- 3. A pendulum with a flywheel -- 4. Wheel rolling control by means of a pendulum -- 5. Optimal swinging and damping of a swing -- 6. Pendulum control that minimizes energy consumption -- Part II: Double physical pendulum -- 7. Local stabilization of an inverted pendulum by means of a single control torque -- 8. Optimal control design for swinging and damping a double pendulum -- 9. Global stabilization of an inverted pendulum controlled by torque in the inter-link joint -- 10. Global stabilization of an inverted pendulum controlled by torque in the pivot -- 11. Multi-link pendulum on a moving base -- Part III: Ball on a beam -- 12. Stabilization of a ball on a straight beam -- 13. Stabilization of a ball on a curvilinear beam -- Part IV: Gyroscopic stabilization of a two-wheel bicycle -- 14. Bicycle design -- 15. Designing a control law to stabilize the bicycle tilt -- Part V: Avoiding undesired vibrations -- 16. Bang-bang control and fluent control -- 17. Trapezoidal control for a system with compliant elements -- Bibliography -- Index.