On integral control in backstepping: analysis of different techniques

@article{Skjetne2004OnIC,
  title={On integral control in backstepping: analysis of different techniques},
  author={Roger Skjetne and T. I. Fossen},
  journal={Proceedings of the 2004 American Control Conference},
  year={2004},
  volume={2},
  pages={1899-1904 vol.2}
}
Including integral action in a nonlinear backstepping design is the topic of this paper. Two methods for adding integral feedback are proposed and analyzed. These are compared to the more traditional methods: 1) adaptive backstepping, and 2) plant augmentation that adds an extra relative degree and thus gives one extra step of backstepping. A test plant is used to compare the different control laws. Based on the theoretical analysis and the simulations, some interesting conclusions are made for… CONTINUE READING
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