Title :
Input-to- Output Stabilization of Nonlinear Systems via Backstepping
Author :
Efimov, Denis V. ; Fradkov, Alexander L.
Author_Institution :
Member, IEEE, Control of Complex Systems Laboratory, Institute of Problem of Mechanical Engineering, Bolshoi av., 61, V.O., St- Petersburg, 199178 Russia (efde@mail.rcom.ru).
Abstract :
An extension of backstepping design method to stabilization of nonlinear systems with respect to a set is presented. Robust version of controller providing the system with input-to- output stability (IOS) is proposed. The performance of obtained solution is demonstrated by the pendulum with actuator example.
Keywords :
Backstepping; Control design; Control systems; Design methodology; Energy states; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Robust control; Robust stability;
Conference_Titel :
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN :
0-7803-9567-0
DOI :
10.1109/CDC.2005.1583142
