The similarity in name between forward-complete and strict-feedforward systems is a pure coincidence. For forward-complete systems, “forward” refers to the direction of time. Such systems have finite solutions for all finite positive time. With feed forward systems, the word “forward” refers to the absence of feedback in the structure of the system. The system consists of a particular cascade of scalar systems.
While forward-complete systems yield global stability when predictor feedback is applied to them, the strict-feedforward systems have the additional property that, despite being nonlinear, they can be solved explicitly. Consequently, the predictor state can be defined explicitly. Related to this, the direct infinite-dimensional backstepping transformation can be explicitly constructed.
KeywordsInverted Pendulum Global Asymptotic Stability Predictor State Input Delay Integrator Forwarding
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