Title :
Locally optimal and robust backstepping design
Author :
K. Ezal; Zigang Pan;P.V. Kokotovic
Author_Institution :
Toyon Res. Corp., Goleta, CA, USA
Abstract :
For a class of nonlinear systems, a robust backstepping design achieves both local optimality and global inverse optimality. The design is robust in the sense that it achieves a prescribed level of disturbance attenuation with stability margins. An analytic example illustrates the performance of the locally optimal control design.
Keywords :
"Robustness","Backstepping","Optimal control","Attenuation","Nonlinear systems","Robust stability","Control systems","Cost function","Performance analysis","Robust control"
Journal_Title :
IEEE Transactions on Automatic Control
