Integrator backstepping for bounded controls and control rates

Randy Freeman*, Laurent Praly

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

70 Scopus citations


We present a backstepping procedure for the design of globally stabilizing state feedback control laws such that the magnitudes of the control signals and their derivatives are bounded by constants which do not depend on the initial conditions. We accomplish this by propagating such boundedness properties through each step of the recursive design.

Original languageEnglish (US)
Pages (from-to)258-262
Number of pages5
JournalIEEE Transactions on Automatic Control
Issue number2
StatePublished - 1998

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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