Backstepping Control Design Lab.pdfVIP

Ministry of Higher Education and ?????? ?????? ?????? ??????? ????? Scientific Research University of Technology ??????????? ??????? Control and Systems Engineering ?????? ??????? ????? ??? Department ??????? ????? ??? Control Engineering Department ????? - ?????? Iraq-Baghdad For 4th Year Control Engineering Branch Supervised By: Assist. Prof. Dr. Shibly Ahmed Al-Samarraie Lect. Yasir Khudhair Abbas 2012-2013 Backstepping Control Design Lab 2012-2013 Table of Contents 1. Introduction……………………………………………………… 3 2. Non-Standard Backstepping Control…………………………... 3 2.1 Motivated Examples...........…………………………….......... 3 A-Linear System Example..………………………................. 3 B-Nonlinear System Example I...…………………………… 8 C-Nonlinear System Example II………………………......... 9 3. Introduction to Lyapunov Function……………………………. 11 3.1 Lyapunov Function…………………………………….......... 11 st A-Motivated Example Stability of a 1 Order Linear System ………………………………………………......... 11 st B-Motivated Example Stability of a 1 Order Nonlinear System ……………………………………........................... 12 C-Motivated Example Controller Design Based On Lyapunov Function …………………………………......... 12 4. Standard Backstepping Method………………………………... 13 A-Motivated Example……………………………………….. 13 B-Solution of H.w. 2…………………………………….......... 19 B-1:Solution Using Non-Standard Backstepping……... 19 B-2: Solution Using Standard Backstepping………….. 24 5. Case Study: Mathematical Model of The Electro-Hydraulic Actuator System………………………………… ………………. 34 6. References………………………………………………………... 38 2 Backstepping Control Design Lab 2012-2013 Backstepping Control Design Lab 1. Introduction: In control theory, Backstepping is a technique developed circa 1990 by Petar V. Kokotovic and others 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