State-dependent scaling design for a unified approach to robust backstepping

Authors:
H. Ito;R. A. Freeman
Affiliations:
Department of Control Engineering and Science, Kyushu Institute of Technology, 680-4 Kawazu, Iizuka, Fukuoka 820-8502, Japan;Department of Electrical and Computer Engineering, Northwestern University, 2145 Sheridan Road, Evanston, IL 60208-3118, USA
Venue:
Automatica (Journal of IFAC)
Year:
2001

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Abstract

Global robust stabilization of nonlinear systems is characterized as a state-dependent scaling problem. By choosing scaling functions recursively, one can construct robust control laws for an extended class of strict feedback systems.