Backstepping design of robust controllers for a class of nonlinear systems

R. A. Freeman*, P. V. Kokotovic

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations

Abstract

We present a backstepping procedure for designing non-dynamic feedback compensators for a class of uncertain nonlinear systems. We assume knowledge of nonlinear growth bounds on the system uncertainties, and we require that these bounds satisfy a strict feedback condition (a condition much less restrictive than the matching condition). We develop two design procedures, one for systems whose uncertainties vanish at an equilibrium point (in which case we achieve global uniform asymptotic stability) and one for systems with more general types of uncertainties (in which case we achieve global uniform ultimate boundedness).

Original languageEnglish (US)
Title of host publicationIFAC Symposia Series
PublisherPubl by Pergamon Press Inc
Pages431-436
Number of pages6
Edition7
ISBN (Print)0080419011, 9780080419015
DOIs
StatePublished - 1993
EventProceedings of the IFAC Symposium on Nonlinear Control Systems Design 1992 - Bordeaux, Fr
Duration: Jun 24 1992Jun 26 1992

Publication series

NameIFAC Symposia Series
Number7
ISSN (Print)0962-9505

Other

OtherProceedings of the IFAC Symposium on Nonlinear Control Systems Design 1992
CityBordeaux, Fr
Period6/24/926/26/92

ASJC Scopus subject areas

  • Engineering(all)

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