Backstepping Control of Systems with Backlash Nonlinearity

  • Jing Zhou
  • Changyun Wen
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 372)


In this chapter, we consider uncertain dynamic systems preceded by unknown backlash nonlinearity. By using backstepping technique, new schemes for both state feedback and output feedback are proposed. Besides showing global stability of the system, the transient performance in terms of L2 norm of the tracking error is derived to be an explicit function of design parameters. For output feedback control we develop a new scheme for a class of uncertain linear systems preceded by unknown backlash nonlinearities. The controller designed by using backstepping technique consists of a new robust control law and a new estimator to estimate the unknown parameters. The result is also extended to nonlinear systems.


Tracking Error State Feedback Control Output Feedback Control Transient Performance Adaptive Control Scheme 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Jing Zhou
    • 1
  • Changyun Wen
    • 2
  1. 1.Norwegian University of Science and Technology, TrondheimNorway
  2. 2.Nanyang Technological UniversitySingapore

Personalised recommendations