Variable structure based robust backstepping controller design for nonlinear systems

Chao Chung Peng, Albert Wen Jeng Hsue, Chieh Li Chen

Research output: Contribution to journalArticlepeer-review

20 Citations (Scopus)


This study presents robust control architecture in the sense of variable structure control via a backstepping design. By using systematic backstepping design techniques, closed-loop behavior of an n-order nonlinear system can be transformed into a stability and convergence problem of a fast switched 2nd order system. There are two main parts contained within the proposed control algorithm; one is a nominal control effort generated according to the Lyapunov stability criterion during recursive backstepping processes, and the other belongs to a smooth robust control law designed to eliminate the effects of unknown lumped perturbations. Finally, a Genesio system is used as an illustrated example to demonstrate the robustness of the control algorithm. The feasibility and properties of the proposed method are given by numerical simulations.

Original languageEnglish
Pages (from-to)253-262
Number of pages10
JournalNonlinear Dynamics
Issue number1-2
Publication statusPublished - 2011 Jan

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Aerospace Engineering
  • Ocean Engineering
  • Mechanical Engineering
  • Applied Mathematics
  • Electrical and Electronic Engineering


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