Locally optimal and robust backstepping design
- 1 February 2000
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 45 (2), 260-271
- https://doi.org/10.1109/9.839948
Abstract
For a class of nonlinear systems, a robust backstepping design achieves both local optimality and global inverse optimality. The design is robust in the sense that it achieves a prescribed level of disturbance attenuation with stability margins. An analytic example illustrates the performance of the locally optimal control design.Keywords
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