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Input‐to‐output stabilization of nonlinear systems via backstepping
Author(s) -
Efimov D. V.,
Fradkov A. L.
Publication year - 2009
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1336
Subject(s) - backstepping , control theory (sociology) , nonlinear system , extension (predicate logic) , actuator , computer science , lyapunov function , control engineering , set (abstract data type) , stability (learning theory) , lyapunov stability , nonlinear control , inverted pendulum , control (management) , mathematics , engineering , adaptive control , artificial intelligence , programming language , physics , quantum mechanics , machine learning
An extension of backstepping method for stabilization of nonlinear systems with respect to a set is presented. Robust control laws providing the system with input‐to‐output stability are proposed. Possibilities of non‐strict Lyapunov functions' application are discussed. The differences between a conventional backstepping method and an approach proposed in Kolesnikov ( Synergetic Control Theory . Energoatomizdat: Moscow, 1994; 344) are analyzed. Performance of the obtained solutions is demonstrated by computer simulation for pendulum with actuator example. Copyright © 2008 John Wiley & Sons, Ltd.