The book is devoted to the theoretical and practical foundations of creating decentralized computer control systems (DCCS) for complex mechatronic objects. A methodology is being developed for the engineering design of systems of this class that meet the specified requirements for speed and reliability at minimal cost. Methods are proposed for organizing and operating a decentralized (distributed) DSCU dispatcher in the form of a set of local dispatchers implemented on separate processor nodes. Algorithms for the operation of local dispatchers in various modes are considered, including the mode of automatic reconfiguration of the control system when failures are detected. The unified software tools of the local dispatcher are described and examples of their practical application in the control and control system of various mechatronic objects are given. For researchers, engineers, graduate students and students specializing in the field of computer control systems for complex mechatronic objects.