Stabilization of Nonlinear Continuous Systems Based on Discrete Integrator Backstepping

In this paper two integrator backstepping designs are presented for digitally controlled continuous-time systems. One of them is based on the continuous-time design and the other on the Euler-method approximated discrete-time model. The presented control design leads either to global-asymptotic stabilization or semiglobal-practical stabilization of the approximated discrete-time system. A new design-approach for integrator backstepping based on Euler approximated discrete-time model using parameter-dependent Lyapunov function, which could lead to better behavior of the digitally controlled continuous system, is also presented. The properties of the developed control law are illustrated in one example.