Volume I: Foundations of Exact Linearization and Contraction

A chapter-by-chapter path through tangent-space and geometric control foundations

This volume is presented as a chapter index so each technical argument remains addressable, reviewable, and readable at a bounded line length.

Geometry and Variational Dynamics

  1. Foundations
  2. Variational Dynamics
  3. Superposition
  4. Induced Acceleration in Biomechanics

Control, Contraction, and Applications

  1. Contraction
  2. Optimal Control
  3. Duality
  4. Counterfactuals
  5. Applications
  6. Parallel Mechanisms, Constrained Dynamics, and Geometric Control

Continue with Volume II for transverse control and trajectory architecture.