dc.creatorGallegos, Javier A.
dc.creatorDuarte Mermoud, Manuel
dc.date.accessioned2018-11-26T13:06:05Z
dc.date.available2018-11-26T13:06:05Z
dc.date.created2018-11-26T13:06:05Z
dc.date.issued2018-06-12
dc.identifierIET Control Theory and Applications, 12(19), JUN 12 2018, 1276-1285 pp.
dc.identifier1751-8644
dc.identifier10.1049/iet-cta.2017.0905
dc.identifierhttps://repositorio.uchile.cl/handle/2250/152863
dc.description.abstractRobust backstepping control of non-linear systems with derivation orders (commensurate or non-commensurate) lying at interval (0, 2) is proposed in this study. The stability and robustness properties are proved using a linearisation procedure in contrast to the classic recursive Lyapunov approach to backstepping. Vector, adaptive and robustness extensions are then developed to solve general tracking and stabilisation control problems. The adaptive extension is proved with a non-Lyapunov approach based on inequalities on non-negative fractional integrals. The mixed-order nature enables to control integer order systems using fractional operators. Through simulations, it is shown that the performance of the controllers depends on their derivation orders. In particular, for transient behaviour and the root mean square value of the control signal, the fractional controllers proposed exhibit improved responses as compared with the integer ones.
dc.languageen
dc.publisherInstitution of Engineering and Technology
dc.sourceIET Control Theory and Applications
dc.subjectrobust control
dc.subjectcontrol nonlinearities
dc.subjectnonlinear control systems
dc.subjectlinearisation techniques
dc.subjectvectors
dc.subjectadaptive control
dc.subjectmathematical operators
dc.subjectrobust mixed order backstepping control
dc.subjectnonlinear systems
dc.subjectstability properties
dc.subjectrobustness properties
dc.subjectlinearisation procedure
dc.subjectvector
dc.subjectadaptive extensions
dc.subjectgeneral tracking problems
dc.subjectstabilisation control
dc.subjectnonLyapunov approach
dc.subjectnonnegative fractional integrals
dc.subjectmixed-order systems
dc.subjectinteger order systems
dc.subjectfractional operators
dc.subjecttransient behaviour
dc.subjectroot mean square value
dc.subjectcontrol signal
dc.subjectfractional controllers
dc.titleRobust mixed order backstepping control of non-linear systems
dc.typeArtículo de revista


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