Many real-world systems are governed by the timedependent, nonlinear differential equations. Dynamics of an electrical system are also best described using the very equations. Being one of the preferred machines when using advanced control algorithms for electric drives, DC motor has been selected for position tracking. Defining dynamic equations of the motor derived from the theory of nonlinea...

In this paper, we study the tracking control problem for a nonlinear system in which the zero dynamics may be unstable. The objective here is to approximate the nonlinear system by another singularly perturbed system by using a small singular perturbation parameter  . The proposed approach is based on the methodology of exact input output linearization control, the integrator backstepping appr...

In this paper we present a PID+ backstepping controller, as a solution to the problem of coordinated attitude control in spacecraft formations. The control scheme is based on quaternions and modified Rodriguez parameters as attitude representation of the relative attitude error. Utilizing the invertibility of the modified Rodriguez parameter kinematic differential equation, a globally exponenti...

A novel adaptive nonlinear controller based on backstepping with integrator is proposed for motion control systems. Backstepping is a practical nonlinear control scheme based on Lyapunov design approach, which can therefore guarantee the convergence of the position tracking error to zero. We utilize the integral action in the backstepping to increase control action in the steady state against t...

Two integrator backstepping designs are presented for digitally controlled continuous-time plants in special form. The controller designs are based on the Euler approximate discrete-time model of the plant and the obtained control algorithms are novel. The two control laws yield, respectively, semiglobal-practical stabilization and global asymptotic stabilization of the Euler model. Both design...

The problem of tracking control of nonlinear systems whose the zero dynamics are unstable is addressed in this paper. It is shown that, using a novel cascade structure where the backstepping approach is given to stabilise the internal dynamics and the standard input output linearization to stabilise the external dynamics. Assuming high-gain feedback for the external dynamics, a stability analys...