1. Introduction -- 1.1 Complex Systems and Control -- 1.2 Complex Engineering Systems -- 1.3 The Role of Feedback -- 1.4 Dynamics and Control -- 1.5 The Nature of Failures -- 1.6 Research Challenges -- 1.7 About the Book -- 2. Modeling Complex Physical Systems -- 2.1 Introduction -- 2.2 The Modelica Project -- 2.3 Composition Diagrams -- 2.4 Modelica Details -- 2.5 Non-causal Modeling -- 2.6 Advanced Modeling Features -- 2.7 Standard Libraries -- 2.8 Future Development -- 2.9 Conclusions -- 3. Passivity-based Control of Non-linear Systems -- 3.1 Introduction -- 3.2 Passivity and Stability Analysis of Feedback Interconnections -- 3.3 Feedback Passivity and Stabilization -- 3.4 Euler-Lagrange Systems -- 3.5 Disturbance Attenuation and R oo Control -- 4. An Introduction to Forwarding -- 4.1 Introduction -- 4.2 C1 Dissipative Systems -- 4.3 C1 Dis sipative Systems via Reduction or Extension -- 4.4 Exact Change of Coordinates -- 4.5 Approximate Change of Coordinates -- 5. Iterative Identification and Control Design -- 5.1 Introduction -- 5.2 Youla Parametrization -- 5.3 A Generic Two-degree of Freedom Controller -- 5.4 Optimization of the Generic Scheme -- 5.5 A New Closed-loop System Parametrization -- 5.6 Asymptotic Variances for K-B-Parametrization -- 5.7 Iterative Controller Refinement -- 5.8 Robustness and Sensitivity -- 5.9 Product Inequalities -- 6. Learning Control of Complex Systems -- 6.1 Introduction -- 6.2 Model Structures for Learning -- 6.3 Control Structures for Learning -- 6.4 Learning Paradigms -- 6.5 A General Framework for On-line Learning -- 6.6 Validation -- 6.7 Conclusions -- 7. Software for Complex Controllers -- 7.1 Introduction -- 7.2 An Evolving Paradigm -- 7.3 Emerging Software Concepts -- 7.4 On to Standardization -- 7.5 Sample Complex Software Controllers -- 7.6 The Future of Software for Control -- 8. Fault-tolerant Control Systems -- 8.1 Introduction -- 8.2 Basic Definitions -- 8.3 Analysis of Fault Propagation -- 8.4 Analysis of Structure -- 8.5 Recoverability -- 8.6 Autonomous Fault-tolerant Control -- 8.7 An Example: Ship Propulsio -- 8.8 Summary -- 9. Fault Detection and Isolation -- 9.1 The Principle of Model-based Fault Diagnosis -- 9.2 Signal-based FDI Approach -- 9.3 Quantitative Model-based FDI Approach -- 9.4 Qualitative Model-based FDI Approach -- 9.5 Summary -- 10. Residual Generation for FDI in Non-linear Systems -- 10.1 Introduction -- 10.2 Algebraic Approach -- 10.3 Geometric Approach -- 10.4 Conclusion -- 11. Predictive Methods for FTC -- 11.1 Introduction -- 11.2 Predictive Control -- 11.3 Embedding Fault Tolerance in Predictive Control -- 11.4 Model Adaptation and Management -- 11.5 Modifying Control Objectives -- 11.6 Current Industrial Practice -- 11.7 Conclusions -- 12. Three-tank Control Reconfiguration -- 12.1 The Benchmark Problem -- 12.2 Reconfigurability Analysis -- 12.3 Reconfiguration Based on a Qualitative Model -- 12.4 A Hybrid Approach to Reconfigurable Control -- 12.5 A Multi-model-based Reconfigurable Control -- 12.6 A Neural Observer-based Approach -- 12.7 Conclusions -- 13. Ship Propulsion Control and Reconfiguration -- 13.1 Introduction -- 13.2 Ship Propulsion System -- 13.3 Structural Analysis -- 13.4 Fault Detection: A Fuzzy Observer Approach -- 13.5 Fault Detection: Non-linear Approach - 1 -- 13.6 Fault Detection: Non-linear Approach - 2 -- 13.7 Reconfiguration Using Software Redundancy -- 13.8 Reconfiguration Using Predictive Control -- 13.9 Summary and Conclusions -- 14. Learning Control of Thermal Systems -- 14.1 Introduction -- 14.2 On Thermal System Learning Control -- 14.3 Controlling Kiln Heat Processing -- 14.4 Controlling Reheat Furnace Processes -- 14.5 Hierarchical Control for Quality Ceramic Tiles -- 14.6 Learning Control ofFBC Combustion -- 14.7 Conclusions and Future Research -- 15. Vibration Control of High-rise Buildings -- 15.1 Introduction -- 15.2 Energy and Information -- 15.3 Analytical Mechanics and HRB Modelling -- 15.4 Disturbance Decoupling -- 15.5 Passivity Based Control -- 15.6 Engineering Constraints and Feedback -- 15.7 Feedback Control and Testing -- 15.8 Conclusions and Future Research -- 16. Control of Helicopters -- 16.1 Introduction -- 16.2 Project History -- 16.3 The COSY Program -- 16.4 Hardware System -- 16.5 Software -- 16.6 Design of the Autopilot -- 16.7 Future Development -- 16.8 Conclusions -- 17. Satellite Attitude Control -- 17.1 Introduction to the Attitude Control Problem -- 17.2 Fault-tolerant Control of the 0RSTED Satellite -- 17.3 Stabilization of the Angular Velocity of a Rigid Body -- 17.4 Optimal Slew Maneuvers via Geometric Control Theory -- 17.5 Attitude Control using Magnetorquers as Sole Actuators -- 17.6 Predictive Attitude Control of Small Satellites -- 17.7 Attitude Determination without Sensor Redundancy -- 17.8 Summary -- Appendix A. List of Contributors -- Appendix B. List of Abbreviations -- References.