1 Introduction. - 1. 1 Passivity Optimality and Stability. - 1. 2 Feedback Passivation. - 1. 3 Cascade Designs. - 1. 4 Lyapunov Constructions. - 1. 5 Recursive Designs. - 1. 6 Book Style and Notation. - 2 Passivity Concepts as Design Tools. - 2. 1 Dissipativity and Passivity. - 2. 2 Interconnections of Passive Systems. - 2. 3 Lyapunov Stability and Passivity. - 2. 4 Feedback Passivity. - 2. 5 Summary. - 2. 6 Notes and References. - 3 Stability Margins and Optimality. - 3. 1 Stability Margins for Linear Systems. - 3. 2 Input Uncertainties. - 3. 3 Optimality Stability and Passivity. - 3. 4 Stability Margins of Optimal Systems. - 3. 5 Inverse Optimal Design. - 3. 6 Summary. - 3. 7 Notes and References. - 4 Cascade Designs. - 4. 1 Cascade Systems. - 4. 2 Partial-State Feedback Designs. - 4. 3 Feedback Passivation of Cascades. - 4. 4 Designs for the TORA System. - 4. 5 Output Peaking: an Obstacle to Global Stabilization. - 4. 6 Summary. - 4. 7 Notes and References. - 5 Construction of Lyapunov functions. - 5. 1 Composite Lyapunov functions for cascade systems. - 5. 2 Lyapunov Construction with a Cross-Term. - 5. 3 Relaxed Constructions. - 5. 4 Stabilization of Augmented Cascades. - 5. 5 Lyapunov functions for adaptive control. - 5. 6 Summary. - 5. 7 Notes and references. - 6 Recursive designs. - 6. 1 Backstepping. - 6. 2 Forwarding. - 6. 3 Interlaced Systems. - 6. 4 Summary and Perspectives. - 6. 5 Notes and References. - A Basic geometric concepts. - A. 1 Relative Degree. - A. 2 Normal Form. - A. 3 The Zero Dynamics. - A. 4 Right-Invertibility. - A. 5 Geometric properties. - B Proofs of Theorems 3. 18 and 4. 35. - B. 1 Proof of Theorem 3. 18. - B. 2 Proof of Theorem 4. 35. Language: English