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Robustification of backstepping against input unmodeled dynamics

M. Arcak, M. Seron, J. Braslavsky, P. Kokotovic
Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)  

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We present two redesigns to robustify backstepping control laws against dynamic uncertainties at the input of the plant. In the first redesign we construct a passivating control law from a CLF obtained by backstepping. The second redesign is a simplification of the first, useful for high order systems. We also compare the stability margins of the two main versions of backstepping: cancelation and L G V -backstepping.
doi:10.1109/cdc.1999.831302 fatcat:n65aeq5cezfvhdkzidkhogp2oq
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M. Arcak, M. Seron, J. Braslavsky, P. Kokotovic. "Robustification of backstepping against input unmodeled dynamics." Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)