The world of artificial systems is reaching complexity levels that es­ cape human understanding. Surface traffic, electricity distribution, air­ planes, mobile communications, etc. , are examples that demonstrate that we are running into problems that are beyond classical scientific or engi­ neering knowledge. There is an ongoing world-wide effort to understand these systems and develop models that can capture its behavior. The reason for this work is clear, if our lack of understanding deepens, we will lose our capability to control these systems and make they behave as we want. Researchers from many different fields are trying to understand and develop theories for complex man-made systems. This book presents re­ search from the perspective of control and systems theory. The book has grown out of activities in the research program Control of Complex Systems (COSY). The program has been sponsored by the Eu­ ropean Science Foundation (ESF) which for 25 years has been one of the leading players in stimulating scientific research. ESF is a European asso­ ciation of more than 60 leading national science agencies spanning more than 20 countries. ESF covers has standing committees in Medical Sci­ ences, Life and Environmental Sciences, Physical and Engineering Sci­ ences, Humanities and Social Sciences. The COSY program was ESF's first activity in the Engineering Sciences. The program run for a period of five years starting January 1995.