Leveraging PID Gain Selection Towards Adaptive Backstepping Control for a Class of Second-Order Systems

  title={Leveraging PID Gain Selection Towards Adaptive Backstepping Control for a Class of Second-Order Systems},
  author={Ahmad Kourani and Naseem A. Daher},
  journal={2021 American Control Conference (ACC)},
In this work, we establish a convenient similarity between an adaptive backstepping control law and a standard proportional-integral-derivative (PID) controller for a class of second-order systems. The extracted similarity provides a deeper understanding of the adaptive backstepping design from a performance perspective via an intuitive method to select its otherwise abstract controller gains, on top of its traditional stability perspective. Such a similarity analysis opens the door for… Expand

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