Robust Backstepping

  • Randy A. Freeman
  • Petar Kokotović
Part of the Modern Birkhäuser Classics book series (MBC)


Thus far our path has brought us to a base camp at which the design of a robustly stabilizing control law appears deceptively simple. All we need to do is find a robust control Lyapunov function (rclf); the remaining task of selecting a control law to make the Lyapunov derivative negative is straightforward. As we demonstrated in Chapter 4, explicit formulas are available for control laws which are optimal with respect to meaningful cost functionals.


Lyapunov Function Uncertain System Nominal System Local Gain Generalize Directional Derivative 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Birkhäuser Boston 2008

Authors and Affiliations

  • Randy A. Freeman
    • 1
  • Petar Kokotović
    • 2
  1. 1.Department of Electrical and Computer EngineeringNorthwestern UniversityEvanstonUSA
  2. 2.Department of Electrical and Computer EngineeringUniversity of CaliforniaSanta BarbaraUSA

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