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Bounded Backstepping through a Dynamic Extension with Delay

Abstract : We provide a bounded backstepping result that ensures global asymptotic convergence for a broad class of partially linear systems with an arbitrarily large number of integrators. We use one artificial delay, and we assume that the nonlinear subsystems satisfy a converging-input-converging-state assumption. When the nonlinear subsystem is control affine with the state of the first integrator as the control, we provide sufficient conditions for our converging-input-converging-state assumption to hold. Our example illustrates the novelty and utility of our main result.
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https://hal.inria.fr/hal-01660133
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Submitted on : Sunday, December 10, 2017 - 4:07:51 AM
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Frédéric Mazenc, Michael Malisoff, Laurent Burlion, Victor Gibert. Bounded Backstepping through a Dynamic Extension with Delay. 56th IEEE Conference on Decision and Control (CDC 2017), Dec 2017, Melbourne, Australia. pp.607-611, ⟨10.1109/cdc.2017.8263727⟩. ⟨hal-01660133⟩

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