Two definitive scripture verses come to mind when I think of worship, Romans 12:1 and 1 Corinthians 3:16,18.  Both verses mention transformation, one talks about the transformation that takes place as we see the glory of the Lord, and the other mentions how we are transformed by the renewing of our mind.  In both instances there is a principle that can be applied, when we encounter God, we are changed; from what we were to what He desires us to be.  This is the essence of transformational worship.  Worship is the chief end of man because worship is all about our loving response to the revelation of God in the person of Jesus Christ.