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This book and Nonlinear Control Systems by Isidori motivated my learning a whole lot of non-sense about Differential Geometry, Topology, Riemannian Geometry etc that I will probably never use, but it has been a great ride. This books place is the garden. Control Theory and Geometry are gardens of forking paths, and they are great places to spend a little time, take a deep breath, and forget about where you're headed.