A Systematic Method for Backstepping via Linear Matrix Inequalities
- Resource Type
- Conference
- Authors
- Ibarra, Jorge; Diaz, Jesus Alonso; Marquez, Raymundo; Bernal, Miguel
- Source
- 2021 18th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) Electrical Engineering, Computing Science and Automatic Control (CCE), 2021 18th International Conference on. :1-6 Nov, 2021
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Engineered Materials, Dielectrics and Plasmas
Engineering Profession
Fields, Waves and Electromagnetics
Robotics and Control Systems
Signal Processing and Analysis
Backstepping
Systematics
Control design
Electrical engineering computing
Software
Linear matrix inequalities
Trajectory
Linear Matrix Inequality
Convex Embedding
- Language
- ISSN
- 2642-3766
In this paper, a systematic method for implementing backstepping via linear matrix inequalities is developed. It is based on using the direct Lyapunov method at each step of the backstepping procedure in order to find a control law as a nonlinear convex sum of gains. These gains are obtained via commercially available software for solving linear matrix inequalities, which guarantees numerical readiness of the proposal. Moreover, dealing with MIMO subsystems at each step can be done without further adjustments. Examples of academic and practical interest illustrate the advantages of the novel methodology over former approaches.