The authors present algorithms for H2 and H-infinity design for nonlinear systems which provide solution techniques which can be implemented in real systems; neural networks are used to solve the nonlinear control design equations. Constraints on the control actuator inputs are dealt with. Results are proven to give confidence and performance guarantees. The algorithms can be used to obtain practical controllers. Nearly optimal applications to constrained-state and mimimum-time problems are discussed as is discrete-time design for digital controllers. 'Nonlinear H2/H-infinity Constrained Feedback Control' is of importance to control designers working in a variety of industrial systems. Case studies are given and the design of nonlinear control systems of the same caliber as those obtained in recent years using linear optimal and bounded-norm designs is explained. The book will also be of interest to academics and graduate students in control systems as a complete foundation for H2 and H-infinity design.