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Redesign of backstepping for robustness against unmodelled dynamics
Author(s) -
Arcak Murat,
Kokotovic Petar
Publication year - 2001
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.620
Subject(s) - backstepping , robustness (evolution) , control theory (sociology) , convergence (economics) , minimum phase , dynamics (music) , computer science , robust control , closed loop , mathematics , engineering , control engineering , adaptive control , control (management) , control system , physics , artificial intelligence , transfer function , economics , biochemistry , chemistry , acoustics , electrical engineering , gene , economic growth
We present a redesign method to robustify backstepping control laws against linear unmodelled dynamics at the input of the plant. The admissible unmodelled dynamics are relative degree zero and minimum phase. We prove that the redesign ensures global boundedness and convergence of the closed‐loop solutions to an arbitrarily small compact set around the origin. Copyright © 2001 John Wiley & Sons, Ltd.