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Digital Implementation of Backstepping Controllers Via Input/lyapunov Matching
World Congress, Volume # 18 | Part# 1
Location: Università Cattolica del Sacro Cuore, Milano, Italy
National Organizing Committee Chair: Mosca, Edoardo,
Bonivento, Claudio
International Program Committee Chair: Bittanti, Sergio,
Colaneri, Patrizio
Conference Editor: Bittanti, Sergio,
Cenedese, Angelo,
Zampieri, Sandro
Authors
Tiefensee, Fernando; Tanasa, Valentin
Digital Object Identifier (DOI)
10.3182/20110828-6-IT-1002.03084
Page Numbers:
3421-3426
Index Terms
Lyapunov methods; Asymptotic stabilization; Digital implementation
Abstract
Given a continuous-time dynamics described by the cascade connection of two-sub-systems in strict-feedforward form, and assuming the existence of a backstepping stabilizing controller, one shows the existence of a digital controller ensuring the same Lyapunov performances at the sampling instants. For computational purpose, a software is developed for computing the first terms of the complete solution. A simulated example illustrates the result.
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