Backstepping approach to controller designs of nonlinear systems based on LgV approach

Abstract

In the backstepping approach, it would be significantly important from a view point of robustification to avoid the cancellation of system nonlinearities. For such ones, we take the two main versions: lean backstepping and L_GV backstepping. In this paper, we discuss a possible fusion of Lean backstepping and L_GV backstepping, which may produce a systematic procedure to make a resultant controller relatively simple. Lastly, a design example is demonstrated to show the effectiveness of our fusion approach.