Application of backstepping techniques to the time-varying exponential stabilisation of chained form systems (Q1365645)

A backstepping technique is used to derive explicit time-varying feedbacks that ensure exponential stability of the closed-loop system. Two classes of control laws are proposed, with one of them involving a dynamic extension of the original chained system. By comparison with time-varying control design studies previously reported in the literature on the subject, the proposed method presents the advantage of providing a lower-bound of the asymptotic rate of convergence.