Backstepping control in the physical domain

Backstepping control in the physical domain” is proposed as a means of exploring a controller´s intrinsic capability to alter the behaviour of a physical system so that it emulates the behaviour of another physical system. In most backstepping control applications, systems are expressed in sets of equations and mathematical control theory is applied. Such an approach frequently loses the physical aspect of system properties and control performance. In this paper, with the help of bond graphs and through analyzing power interaction among subsystems, a theorem is presented to identify physical effects that can be readily emulated by the controller. The results establish a connection between the control characteristics and the physical structures, and are useful guidelines for the identification and adjustment of crucial system properties for the purpose of control design