This monograph presents the fundamentals of global stabilization and optimal control of nonlinear systems with uncertain models. It offers a unified view of deterministic disturbance attenuation, shastic control, and adaptive control for nonlinear systems. The book addresses a large audience of researchers, students, engineers and mathematicians in the areas of robust and adaptive nonlinear control, nonlinear H... shastic nonlinear control (including risk-sensitive), and other related areas of control an d dynamical systems theory.