Title

Robust stabilization of MIMO nonlinear systems by backstepping

Document Type

Article

Publication Date

1-1-1999

Abstract

The problem of global robust stabilization is investigated for a class of multi-input, minimum-phase nonlinear systems with unknown time-varying parameters or disturbances belonging to a given compact set. It is assumed that the systems admit a special structure, which is much more general than strict feedback form. It is shown that such a structure makes it possible to construct both Lyapunov functions and robust stabilizing controllers by the backstepping method.

Publication Source (Journal or Book title)

Automatica

First Page

987

Last Page

992

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