Control of uncertain nonlinear systems using mixed nonlinear damping function and backstepping techniques

This paper depicts the design of control law to stabilize nonlinear system with mixed match-mismatch uncertainties with bounded disturbance. The design approach exploit the advantages and flexibility of backstepping technique. To compensate for the uncertainties and bounded disturbance, nonlinear damping function is augmented to the pre-designed unperturbed stabilizing function. Throughout the design, Young's inequality and comparing squares method is used to avoid elimination of useful nonlinear terms as well as to obtain feasible control law.