Backstepping control in the physical domain (Q5939353)

For systems of a certain structure, backstepping control can be used to alter the system's behaviour to a more desirable one. Contrary to other approaches based on equations and mathematical control theory, the author proposes the use of bond graphs to analyse the energy interaction between subsystems. Systematic procedures are developed, and the results facilitate the separation of design and realization and also the selection of appropriate physical characteristics for a given control task.