Preface; Contents; About the Authors; Notation and Symbols; 1 Introduction; 1.1 System Complexity; 1.2 Variable Structure Control; 1.3 Sliding Mode Control; 1.3.1 Sliding Mode Control Methodology; 1.3.2 Sliding Mode Control of a Mass
Spring Damper System; 1.3.3 Characteristics of Sliding Mode Control; 1.4 Decentralised Control; 1.4.1 Background; 1.4.2 Fundamental Concept; 1.5 Examples of Complex Systems; 1.5.1 One-Machine Infinite-Bus System; 1.5.2 PVTOL Aircraft; 1.5.3 Stirred Tank Reactor; 1.5.4 Coupled Inverted Pendula on Carts; 1.5.5 Multimachine Power Systems.

1.5.6 A Biochemical System
Peroxidase
Oxidase Reaction1.6 Outline of This Book; 2 Mathematical Background; 2.1 Lipschitz Function; 2.1.1 Lipschitz Condition; 2.1.2 Generalised Lipschitz Condition; 2.2 Comparison Functions; 2.3 Lyapunov Stability Theorems; 2.3.1 Asymptotic Stability; 2.3.2 Exponential Stability; 2.3.3 Converse Lyapunov Theorem; 2.4 Uniformly Ultimate Boundedness; 2.5 Razumikhin Theorem; 2.6 Output Sliding Surface Design; 2.7 Geometric Structure of Nonlinear System ; 2.8 Summary; 3 Static Output Feedback Variable Structure Control; 3.1 Introduction.

3.2 Robust Global Stabilisation of Nonlinear Systems3.2.1 Background; 3.2.2 System Description and Assumptions; 3.2.3 Lyapunov Approach Based Control Design; 3.2.4 Local Output Sliding Surface Design; 3.2.5 Local Stability of Sliding Motion; 3.2.6 Local Sliding Mode Controller; 3.2.7 Global Variable Structure Control Synthesis; 3.3 Decentralised Sliding Mode Control for Large-Scale Interconnected Systems; 3.3.1 Introduction; 3.3.2 System Description and Problem Formulation; 3.3.3 Basic Assumptions; 3.3.4 Stability Analysis of Sliding Mode Dynamics.

3.3.5 Decentralised Output Feedback Sliding Mode Control3.4 Case Studies
Implementation of Static Output Control; 3.4.1 Application to a Forced Mass
Spring System; 3.4.2 Application to Control of Coupled Inverted Pendula; 3.4.3 Application to Flight Control Systems; 3.5 Summary; 4 Dynamical Output Feedback Variable Structure Control; 4.1 Introduction; 4.2 Control of Nonlinear Systems with Matched and Mismatched Uncertainties; 4.2.1 Introduction; 4.2.2 System Description and Preliminaries; 4.2.3 Stability Analysis of the Sliding Mode; 4.2.4 Variable Structure Observer Design.

4.2.5 Sliding Mode Control Design4.3 Control of Nonminimum Phase Systems with Nonlinear Disturbances; 4.3.1 Introduction; 4.3.2 System Description and Preliminaries; 4.3.3 Dynamical Compensator Design; 4.3.4 Stability of the Reduced Order Sliding Motion; 4.3.5 Sliding Mode Control Design; 4.4 Case Study: Control of HIRM Aircraft; 4.4.1 Control of Longitudinal Dynamics; 4.4.2 Control of Lateral Dynamics; 4.5 Summary; 5 Reduced-Order Compensator-Based Feedback Control of Large-Scale Systems; 5.1 Introduction; 5.2 Decentralised Sliding Mode Control for Nonminimum Phase #x83;; 5.2.1 Introduction.