# 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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