Flexible Backstepping Design for Tracking and Disturbance Attenuation
نویسندگان
چکیده
In this paper we consider the benchmark nonlinear control problem and use backstepping to design several active controllers for tracking and disturbance attenuation; these two problems are much more challenging than stabilization. We show that the significant flexibility of backstepping can be exploited to reduce the required control effort and to eliminate the winding problem. ( 1998 John Wiley & Sons, Ltd.
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