
358 ◾ Security for Multihop Wireless Networks
model since Euler–Lagrange equation-modeled systems can be controlled by using
the variable structure control methodology. Also, the dependence of the control law
on accurate model parameters can be relaxed by using ADP for parameter estima-
tions. erefore, other nonlinear systems, which do not fall into the class of Euler–
Lagrange models, may also be solved in a similar way if the SMC law applies.
13.3 DP-Based Formulation of SMC
Without losing generality, we stabilize the system (13.1) by steering it to the sliding
surface s = 0 with s defined in Equation 13.3. Different from existing model-base ...