| M.Seron,J.Braslavsky,P.Kokotović, Robustification of backstepping against input unmodelled dynamics (1999) | |||||||||||||||||
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| Abstract---We present two redesigns to robustify backstepping control laws against dynamic uncertainties at the input of the plant. In the first redesign we construct a passivating control law from a CLF obtained by backstepping. The second redesign is a simplification of the first, useful for high order systems. We also compare the stability margins of the two main versions of backstepping: cancelation and LGV-backstepping. Keywords--- Robust stabilization, unmodeled dynamics, | |||||||||||||||||
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