论文信息 - Design and Comparison of Globally Stabilizing Controllers for an Uncertain Nonlinear System

Design and Comparison of Globally Stabilizing Controllers for an Uncertain Nonlinear System

We review various integrator backstepping design procedures for generating globally stabilizing controllers for uncertain nonlinear systems. By way of a case study of a simple planar system, we demonstrate how these procedures can be combined to produce new classes of stabilizing controllers. We present eight different backstepping controllers for the planar system and compare their structural properties and simulated performance.

Randy A. Freeman | P. V. Kokotovic

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