Towards robust control with constraints for a class of dynamical systems: Theory and application

In this paper we are mainly interested in a generalization of backstepping nonlinear control technique, applied to a wider class of dynamical nonlinear systems than the so-called strict-feedback form, namely a special type of pure feedback systems. This extension of backstepping is interesting from our point of view, both theoretically and practically, since a large number of industrial applications may benefit from it. We will briefly present theoretical aspects concerning design procedure (stability and optimality) and then pass to an application example. Robustness and performance issues with respect to other linear and nonlinear control techniques will be addressed by running a series of simulations.