Robust Tracking Controller Backstepping Design for SISO Uncertain Nonlinear System
نویسندگان
چکیده
Controller design problem is dealt with for a class of plants with time-varying nonlinear uncertainties and unmodeled dynamics. A new method based on signal compensation is proposed to design a robust controller. A controller designed by this method consists of a nominal controller and a robust compensator. It is shown that robust tracking property and robust tracking transient performance can be achieved simultaneously. A salient feature of our results, shown in the present paper, is that the controller is linear and time-invariant one and we can tell the users how to tune on-line the parameters of the controller with the proposed robust and transient performance.
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