Dynamical adaptive backstepping control design via symbolic computation

We describe here a symbolic algebra toolbox developed using the MATLAB Symbolic Toolbox, which implements a systematic algorithm for the design of dynamic (static) adaptive (deterministic) backstepping controllers for a class of observable minimum phase uncertain nonlinear systems. The design procedure employs the basic ideas of the adaptive backstepping algorithm with tuning functions via input-output linearization, and is applicable to uncertain nontriangular systems which are not transformable into the parametric strict feedback (PSF) form or parametric pure feedback (PPF) form.