New look at robust backstepping through state-dependent scaling design

Hiroshi Ito*, Randy A. Freeman

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

7 Scopus citations


This paper considers global and semi-global robust stabilization problems for a class of uncertain nonlinear systems and develops a new systematic tool for robust backstepping. By choosing state-dependent scaling functions in each step of the backstepping design, one can construct robust control laws for an extended class of strict feedback systems. The scaling approach to robust backstepping treats both static and dynamic uncertainty in a unified way. The method is amenable to automatic computation based on optimization, and one can thus introduce performance objectives such as instantaneous control effort minimization into the design.

Original languageEnglish (US)
Pages (from-to)11-16
Number of pages6
JournalProceedings of the American Control Conference
StatePublished - 1999
EventProceedings of the 1999 American Control Conference (99ACC) - San Diego, CA, USA
Duration: Jun 2 1999Jun 4 1999

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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