ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
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10
Issue
vol 62 / November, 2019
Article

DOI 10.17586/0021-3454-2015-58-3-173-178

UDC 519.7

SIMPLIFIED BACKSTEPPING ALGORITHM FOR CONTROL OF NONLINEAR SYSTEMS

I. B. Furtat
Institute of Problems of Mechanical Engineering, Russian Academy of Sciences, Saint Petersburg, 199178, Russian Federation; ITMO University, Saint Petersburg, 197101, Russian Federation; Leading scientific researcher$ Professor


E. A. Tupichin
ITMO University; Department of Control Systems and Informatics, St. Petersburg; Post-Graduate Student


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Abstract. An algorithm based on the modified backstepping method is proposed for robust control of parametrically uncertain nonlinear plants. Simulation results illustrate the performance of the presented scheme.  
Keywords: robust control, backstepping method, nonlinear system.