A robust adaptive backstepping scheme for nonlinear systems with unmodeled dynamics

Zhong Ping Jiang, David J. Hill

Research output: Contribution to journalArticlepeer-review


This paper presents a constructive robust adaptive non-linear control scheme which can be regarded as a robustification of the now popular adaptive backstepping algorithm. The allowed class of uncertainties includes nonlinearly appearing parametric uncertainty, uncertain nonlinearities, and unmeasured input-to-state stable dynamics In contrast to [5]-[7], the adaptive control laws proposed in this paper do not require any dynamic dominating signal to guarantee the robustness property of Lagrange stability. The numerical example of a simple pendulum with unknown parameters and without velocity measurement illustrates our theoretical results.

Original languageEnglish (US)
Pages (from-to)1705-1711
Number of pages7
JournalIEEE Transactions on Automatic Control
Issue number9
StatePublished - 1999


  • Adaptive nonlinear control
  • Backstepping
  • Dynamic uncertainty
  • Lagrange stability

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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