Szukana fraza: [Abstract = Sufficient conditions for asymptotic tracking employing decentralized variable structure techniques are derived. The condition is shown to be closely related to \(and in a sense, a time\-domain counterpart of\) dominance criteria used in frequency\-domain techniques, as they have developed out of Rosenbrock's original diagonal dominance concept. The synthesis of a decentralized variable\-structure controller for asymptotic tracking is illustrated for systems obeying some conditions on their nominal relative degrees.]

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