my kind of book!

[Gary_Yngve]

Robust Nonlinear Control Design: State-Space and Lyapunov Techniques by Randy Freeman and Petar Kokotovic

 

"Unfortunately, in reality a robust control Lyapunov function is often not known. Our path now climbs to a higher lookout point with a clearer view on the construction of rclf's. Although we will not reach the highest peak, our climb will nevertheless be rewarding. In this chapter, we will develop robust backstepping..."

 

"Before we begin our climb, we dedicate Section 5.1 to the inspection of the climbing gear available at the base camp. This includes the now classical Lyapunov redisgn in which there is a known clf for the nominal system..."

[EWolfe]

The Pilot's Wife. Just finished it.

[Dechristo]

Robust Nonlinear Control Design: State-Space and Lyapunov Techniques by Randy Freeman and Petar Kokotovic

 

"Unfortunately, in reality a robust control Lyapunov function is often not known. Our path now climbs to a higher lookout point with a clearer view on the construction of rclf's. Although we will not reach the highest peak, our climb will nevertheless be rewarding. In this chapter, we will develop robust backstepping..."

 

"Before we begin our climb, we dedicate Section 5.1 to the inspection of the climbing gear available at the base camp. This includes the now classical Lyapunov redisgn in which there is a known clf for the nominal system..."

So, a book that uses analogies to climbing to describe the steps in an hemorrhoidectomy would also qualify as your kind of book.