2013•Institution of Engineering and Technology eBooksRequires access
Backstepping design
Zhengtao Ding
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Abstract
For a nonlinear system, the stability around an equilibrium point can be established if one can find a Lyapunov function. Nonlinear control design can be carried out by exploring the possibility of making a Lyapunov function candidate as a Lyapunov function through control design. In this chapter, we start with the fundamental form of adding an integrator, and then introduce the method for iterative backstepping with state feedback. We also introduce backstepping using output feedback, and adaptive backstepping for certain nonlinear systems with unknown parameters.