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Robustification of backstepping against input unmodeled dynamics

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4 Author(s)
Arcak, M. ; Center for Control Eng. & Comput., California Univ., Santa Barbara, CA, USA ; Seron, M. ; Braslavsky, J. ; Kokotovic, P.

We present two redesigns to robustify backstepping control laws against dynamic uncertainties in the input of the plant. In the first redesign we construct a passivating control law from a control Lyapunov function obtained by backstepping. The second redesign is a simplification of the first, useful for high-order systems. We also compare the stability margins of the two main versions of backstepping: cancellation and LGV-backstepping

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Automatic Control, IEEE Transactions on  (Volume:45 ,  Issue: 7 )