Symbolic algebra toolbox for the design of dynamical adaptive backstepping controllers

A symbolic algebra toolbox is described for the design of dynamical adaptive nonlinear controllers for regulation and tracking tasks of a class of observable minimum phase uncertain nonlinear systems. This toolbox also allows the design of non-adaptive controllers for systems without uncertainty, and adaptive sliding mode controllers (SMC) to provide robustness in the presence of disturbances. The design procedure employs the basic ideas of the adaptive backstepping algorithm with tuning functions via input-output linearization, and is applicable to both triangular and nontriangular systems