The underlying theory on which much modern robust and nonlinear control is based can be difficult for both students and industrial practitioners to grasp. In particular, certain mathematical aspects of advanced control theory can be problematic for students coming from a standard engineering background. The Engineering and Physical Sciences Research Council (EPSRC) sponsored Summer School which was held in Leicester UK in September 2006 attempted to \"fill in the gap\" in students’ appreciation of the theory relevant to several important areas of control. Mathematical Methods for Robust and Nonlinear Control is a collection of lecture notes which were presented at that workshop by a group of experts in advanced control engineering of international origins and consists, broadly, of two parts. The first ten chapters are devoted to the mathematical theory behind several areas of robust and nonlinear control and are aimed at introducing fundamental concepts to the reader. The last six chapters contain detailed case studies which aim to demonstrate the use and effectiveness of these modern techniques in real engineering applications. It is hoped that this book will provide a useful introduction for students of many of the more common robust and nonlinear control techniques as well as serving as a valuable reference for the more adept practitioner.