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In this chapter, we will study the control of MIMO systems where constraints are placed on the flow of information. In particular we will consider the control of decentralized systems where there are constraints on information exchange between subsystems. Decentralized control systems often arise from either the physical inability of subsystem information exchange or the lack of computing capabilities required for a single central controller. Furthermore, at times it may be more convenient to design a controller in a decentralized framework since each subsystem is often much more simple than the composite MIMO system. Within a decentralized framework,. | Stable Adaptive Control and Estimation for Nonlinear Systems Neural and Fuzzy Approximator Techniques. Jeffrey T. Spooner Manfredi Maggiore Raul Ordonez Kevin M. Passino Copyright 2002 John Wiley Sons Inc. ISBNs 0-471-41546-4 Hardback 0-471-22113-9 Electronic Chapter 14 Decentralized Systems Overview In this chapter we will study the control of MIMO systems where constraints are placed on the flow of information. In particular we will consider the control of decentralized systems where there are constraints on information exchange between subsystems. Decentralized control systems often arise from either the physical inability of subsystem information exchange or the lack of computing capabilities required for a single central controller. Furthermore at times it may be more convenient to design a controller in a decentralized framework since each subsystem is often much more simple than the composite MIMO system. Within a decentralized framework the overall system is broken into N subsystems each with its own inputs and outputs. A decentralized control law is then defined using local subsystem signals. Thus the subsystem does not have access to the signals associated with the subsystem when i j. Figure shows a decentralized system with four subsystems each influenced by interconnections to one or more of the other subsystems. Here we use the notation Si to represent the z subsystem and Iij is an interconnection which defines how the subsystem influences the z subsystem. The goal of this chapter will be to familiarize the reader with some of the tools used in the design and analysis of decentralized controllers for nonlinear systems. There has been a large volume of work dedicated to the design of decentralized controllers so it will only be possible to touch on a few decentralized techniques. The reader is urged to see the For Further Study section at the end of this book for references to related decentralized approaches. 473 474 Decentralized Systems .