Backstepping controller design based on similar skew-symmetric structure

This paper addresses tracking control for nonlinear plants with a lower-triangular structure. Similar Skew-Similar structure is chosen as the desired structure for the closed loop system. Based on this idea, a block backstepping scheme is proposed to design the controller. Compared with the conventional backstepping based on Lyapunov function construction, the proposed method is system structure oriented, thus it is more intuitive. Theoretical analysis shows that arbitrarily fast response be obtained by conveniently regulating the related parameters in the proposed controller.