Modular Adaptive Backstepping Design With a High-Order Tuner

This article addresses the problem of transient performance improvement in adaptive backstepping design. A new modular design with a high-order tuner providing
complete compensation
of the adjustable parameters’ time variations is proposed. The
${\mathcal L}_\infty$
performance bound for the state error is derived and verifies a better transient performance of the proposed controller compared to the known ones designed based on tuning functions and modular approach with first-order tuners.