Nonlinear systems control algorithm with backstepping method

Abstract

The article gives the possibilities of applications of the backstepping method for solving the problem of synthesis of a control system for the nonlinear dynamic plant with indefinably changing parameters. Has been modified the well-known method of backstepping inclusion in the control system of the state observer, allows for the restoration of unmeasured coordinates with a differentiating unit, due to which substantially simplified the definition of customizable parameters of control device and provides the desired dynamic accuracy of control.

Keywords

• synthesis method of backstepping
• adaptive-robust control
• nonlinear system
• observability
• reference model
• observer