A nonlinear robust controller for a class of nonlinear uncertain systems

In this paper, we shall present an alternative control design approach for nonlinear uncertain systems that do not satisfy the generalized matching conditions. The control design scheme is a combination of the backstepping design technique along with a dynamic recursive control design. The controller yields global stability of uniform ultimate boundedness and requires only the knowledge of the bounding function of the uncertainty along with the system states. The form of the controller is a nonlinear nonhomogenous ordinary differential equation where its solution yields the control to be injected into the system model