On the backstepping design procedure for multiple input nonlinear systems |
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| Authors: | Xinmin Liu Zongli Lin |
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| Affiliation: | 1. Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, Engineering IV, 420 Westwood Blvd, Los Angeles, CA 90095‐1597, U.S.A.;2. Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, P. O. Box 400473, Charlottesville, VA 22904‐4743, U.S.A. |
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| Abstract: | In a recent paper, we developed a structural decomposition for multiple input multiple output nonlinear systems that are affine in control but otherwise general. In this paper, we exploit the structural properties of such a decomposition in the application of the backstepping design technique on multiple input nonlinear systems. In particular, this decomposition simplifies the conventional backstepping design and motivates new backstepping design procedures that are able to stabilize systems on which the conventional backstepping procedure is not applicable. Copyright © 2011 John Wiley & Sons, Ltd. |
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| Keywords: | backstepping nonlinear systems stabilization |
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