Backstepping Control of Linear Time Varying Systems with Known.pdfVIP

Backstepping Control of Linear Time Varying Systems with Known and Unknown Parameters Youping Zhang , Barı¸s Fidan , and Petros A. Ioannou Numerical Technologies, Inc., San Jose, CA 95134-2134 Dept. of Electrical Engineering-Systems, University of Southern California Los Angeles, CA 90089-2562 Corresponding author: e-mail: ioannou@rcf.usc.edu, phone:(213)7404452 Abstract The backstepping control design procedure has been used to develop stabilizing controllers for time invariant plants that are linear or belong to some class of nonlinear systems. The use of such a procedure to design stabilizing controllers for plants with time varying parameters has been an open problem. In this paper we consider the backstepping design procedure for linear time varying plants with known and unknown parameters. We first show that the control designs based on time invariant models are unable to guarantee stability and asymptotic tracking for linear time varying systems in general, even if the plant parameters are exactly known. Next, we involve new filter structures in the control design considering the time variations of the plant parameters. The new control design guarantees exponential convergence of the tracking error to zero if the plant parameters are exactly known. If the parameters are not precisely known but the time variations of the parameters associated with the system zeros are known, the appropriate choice of certain design parameters, without using any ad