Adaptive backstepping control for a class of uncertain single input single output nonlinear systems

This paper proposes an adaptive backstepping control method for a class of uncertain single input single output nonlinear systems. The proposed method is based on the robust stability property of the Lyapunov method. This method can ensures the uniform ultimate boundedness of the closed-loop system signals and the tracking error converges to zero for any initial conditions. Simulation results also show the effectiveness and advantage of the method.