Stabilizing Nonminimum-Phase Bilinear Control System Using Backstepping-Sliding Mode Control

This article presents the backstepping-sliding method to stabilize the nonminimum-phase bilinear control system. The bilinear control system is transformed into the normal form using input-output feedback linearization. The sliding control stabilises internal and external dynamics using two sliding surfaces. The internal dynamic of the normal form is stabilized using virtual control, and the original control is used in the final form to stabilize the whole system. The simulation results show that our method successfully drives the output from the initial position to the origin.