Backstepping Control
This example shows the modeling and simulation of a non-linear control system from [1] using
QFIRE Studio
to implement a linear backstepping control law.Introduction
Considering the system to be controlled:
This system is represented by the diagram in Figure 1.
Figure 1 - Non-linear plant model
Simulation
The simple linear control law in Figure 2 is able to stabilize the non-linear plant.
Figure 2 - Controller diagram
Figure 3 - Backstepping Control System
Figure 4 shows the response of the control system to the initial condition of the state vector
Figure 4 - State 1 (blue) and state 2 (orange)
The corresponding control signal is shown in Figure 5.
Figure 5 - Control signal computed by the control law in Figure 2
Bibliographic References
[1] Ola Härkegårds,
BACKSTEPPING AND CONTROL ALLOCATION WITH APPLICATIONS TO FLIGHT CONTROL
, 2003.About MWF
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