In control theory, backstepping is a technique developed circa 1990 by Myroslav Sparavalo, Petar V. Kokotovic, and others[1][2][3] for designing stabilizing controls for a special class of nonlinear dynamical systems. These systems are built from subsystems that radiate out from an irreducible subsystem that can be stabilized using some other method. Because of this recursive structure, the designer can start the design process at the known-stable system and "back out" new controllers that progressively stabilize each outer subsystem. The process terminates when the final external control is reached. Hence, this process is known as backstepping.[4]
- ^ Sparavalo, M. K. (1992). "A method of goal-oriented formation of the local topological structure of co-dimension one foliations for dynamic systems with control". Journal of Automation and Information Sciences. 25 (5): 1. ISSN 1064-2315.
- ^ Kokotovic, P.V. (1992). "The joy of feedback: nonlinear and adaptive". IEEE Control Systems Magazine. 12 (3): 7–17. doi:10.1109/37.165507. S2CID 27196262.
- ^ Lozano, R.; Brogliato, B. (1992). "Adaptive control of robot manipulators with flexible joints" (PDF). IEEE Transactions on Automatic Control. 37 (2): 174–181. doi:10.1109/9.121619.
- ^ Khalil, H.K. (2002). Nonlinear Systems (3rd ed.). Upper Saddle River, NJ: Prentice Hall. ISBN 978-0-13-067389-3.
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