Locally Constrained Optimal and Globally Stable Backstepping Design
نویسندگان
چکیده
Robust nonlinear controller design with constraint on the poles' location of the linear part of closed-loop system is proposed. The design method is based on the integrator backstepping procedure and linear constrained ∞ H for nonlinear strictfeedback systems with disturbance also in strict-feedback form. The resulted closedloop system will be globally stable, while both local robustness and desired αstability are achieved. An analytic example is used to compare the performance of the proposed methodology with that of the locally optimal backstepping design with no closed-loop poles constraint. Copyright © 2005 IFAC
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