DOI 10.17586/0021-3454-2015-58-3-173-178
UDC 519.7
SIMPLIFIED BACKSTEPPING ALGORITHM FOR CONTROL OF NONLINEAR SYSTEMS
ITMO University, Saint Petersburg, 197101, Russian Federation; Institute of Problems of Mechanical Engineering of the Russian Academy of Sciences, Saint Petersburg, 199178, Russian Federation; Full Professor; Head of Department, Chief Researcher
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.
