Decentralised control of nonlinear dynamical systems

Firdaus E. Udwadia"'*, Prasanth B. Kogantib, Thanapat Wanichanon' and Du5an M. Stipanovi6'l d Depurtment of Aerospat'e antl Mechanical Engineering, Civil Engirteering, Muthematic's, and Infitrmation and Operutions Management,430K Olin Hall, Universitl,of Southern Calfornia, Los Angeles, CA 90089-1153, (/SA;hDepartment of Civil Engineering, Universitl, of South.ern CaliJbrnia, Los Angeles, CA 90089, USA; 'Department o.f Mechanical Engineering, Mahidol Universitv, 25/25 Phutthamonlhon, Nakhon Pathom 73170, Thailand: 'tDepartment of Intluslrial and Enterprise Sltstems Engineering und Coordinatetl Science Laboratory, Universiht oflllinois, Urbana, IL 61801, USA