Title :
Tracking and disturbance rejection for the benchmark nonlinear control problem
Author :
Kanellakopoulos, Ioannis ; Zhao, Jiaxiang
Author_Institution :
Dept. of Electr. Eng., California Univ., Los Angeles, CA, USA
Abstract :
Considers the benchmark nonlinear control problem and designs a backstepping controller for tracking. The authors show that the control effort and disturbance rejection of the closed-loop system can be significantly improved by exploiting the built-in flexibility of the backstepping design
Keywords :
closed loop systems; control system synthesis; nonlinear control systems; stability; tracking; backstepping controller; benchmark nonlinear control problem; built-in flexibility; closed-loop system; control effort; disturbance rejection; tracking; Backstepping; Equations; Feedback; Force control; Friction; Lyapunov method; Motion control; Stability; Switches; Torque control;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.532758
