Modified backstepping algorithm for nonlinear systems

Abstract

Based on the backstepping method, this paper proposes a robust control algorithm for nonlinear plants under parametric uncertainty and external bounded disturbances. The algorithm ensures tracking of the plant output to a smooth reference signal with a required accuracy in the steady-state mode. In comparison with the existing analogs, control system implementation requires only one filter of dimension coinciding with the plant relative degree and observers used for calculation of the stabilizing and basic control laws. This feature considerably simplifies the control scheme and calculation of its parameters. And finally, simulation results illustrating the performance of this scheme are given.