[en] An extension of a backstepping method for the 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 an actuator example.
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
Efimov, Denis ; Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation
Fradkov, Alexander; IPME RAS > CCS Lab
Language :
English
Title :
Input-to-output stabilization of nonlinear systems via backstepping
Publication date :
2009
Journal title :
International Journal of Robust and Nonlinear Control
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