Robustification of backstepping against input unmodeled dynamics

@article{Arcak2000RobustificationOB,
  title={Robustification of backstepping against input unmodeled dynamics},
  author={Murat Arcak and Mar{\'i}a M. Seron and Julio H. Braslavsky and Petar V. Kokotovic},
  journal={IEEE Trans. Autom. Control.},
  year={2000},
  volume={45},
  pages={1358-1363}
}
We present two redesigns to robustify backstepping control laws against dynamic uncertainties in the input of the plant. In the first redesign we construct a passivating control law from a control Lyapunov function obtained by backstepping. The second redesign is a simplification of the first, useful for high-order systems. We also compare the stability margins of the two main versions of backstepping: cancellation and L/sub G/V-backstepping. 
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