@inproceedings{0a25f6c278b84079bde84e2aa6d26c71,
title = "Generalized state-dependent scaling: Backstepping for local optimality, global inverse optimality, and global robust stability",
abstract = "This paper addresses the inverse optimal robust control problem for uncertain nonlinear systems. A new version of robust backstepping is proposed in which inverse optimality is achieved through the selection of generalized state-dependent scaling factors. The design procedure is always successful for uncertain nonlinear systems in strict-feedback form. The class of cost functionals allowed in the inverse optimal design is such that the uncertainty structure and desired level of global robustness can be prescribed a priori. Furthermore, the inverse optimal control law can always be designed such that its linearization is identical to a linear optimal control law for the linearized system with respect to a prescribed cost functional.",
keywords = "global robust stabilization, inverse optimal control, robust backstepping, state-dependent scaling",
author = "Hiroshi Itot and Freeman, {Randy A.}",
note = "Publisher Copyright: {\textcopyright} 1999 EUCA.; 1999 European Control Conference, ECC 1999 ; Conference date: 31-08-1999 Through 03-09-1999",
year = "2015",
month = mar,
day = "24",
doi = "10.23919/ecc.1999.7099554",
language = "English (US)",
series = "European Control Conference, ECC 1999 - Conference Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1669--1674",
booktitle = "European Control Conference, ECC 1999 - Conference Proceedings",
address = "United States",
}