Backstepping design for cascade systems with relaxed assumption on Lyapunov functions

H. Ye, W. Gui, Z. P. Jiang

Research output: Contribution to journalArticlepeer-review


This study proposes a novel backstepping technique for non-linear cascade systems whose driven subsystems have a feedforward structure and include higher order terms. A small control is first assigned to stabilise the driven subsystem, and a simple backstepping procedure is then followed. When dealing with the driven subsystem, we adopt an approach of using a small control to attenuate the higher order term, rather than the usual method in which the higher order term is tackled under the guidance of a single Lyapunov function. The stability analysis is carried out using some boundedness information to explicitly compute the higher order term, and the global asymptotical stability of the whole closed-loop system is obtained using the 'converging-input bounded-state' criterion. This is in sharp contrast with previous designs where (involved) Lyapunov functions are utilised in both the control design and stability analysis. As applications, global stabilisation designs are presented for several classical mechanical systems including the inertia wheel pendulum, the translational oscillator with rotating actuator and the cart-pole system.

Original languageEnglish (US)
Pages (from-to)700-712
Number of pages13
JournalIET Control Theory and Applications
Issue number5
StatePublished - Mar 17 2011

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Control and Optimization
  • Electrical and Electronic Engineering


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