  We construct the field theory which describes the universal properties of the
quasi-static isotropic depinning transition for interfaces and elastic periodic
systems at zero temperature, taking properly into account the non-analytic form
of the dynamical action. This cures the inability of the 1-loop flow-equations
to distinguish between statics and quasi-static depinning, and thus to account
for the irreversibility of the latter. We prove two-loop renormalizability,
obtain the 2-loop beta-function and show the generation of "irreversible"
anomalous terms, originating from the non-analytic nature of the theory, which
cause the statics and driven dynamics to differ at 2-loop order. We obtain the
roughness exponent zeta and dynamical exponent z to order epsilon^2. This
allows to test several previous conjectures made on the basis of the 1-loop
result. First it demonstrates that random-field disorder does indeed attract
all disorder of shorter range. It also shows that the conjecture zeta=epsilon/3
is incorrect, and allows to compute the violations, as zeta=epsilon/3 (1 +
0.14331 epsilon), epsilon=4-d. This solves a longstanding discrepancy with
simulations. For long-range elasticity it yields zeta=epsilon/3 (1 + 0.39735
epsilon), epsilon=2-d (vs. the standard prediction zeta=1/3 for d=1), in
reasonable agreement with the most recent simulations. The high value of zeta
approximately 0.5 found in experiments both on the contact line depinning of
liquid Helium and on slow crack fronts is discussed.
