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In this paper, we advance a nonlinear control design concept based on backstepping, adjusted so that it might be used for a wider class of dynamical systems than the so-called strict-feedback form. Possible applications concern magnetic levitation systems, one of which will be used, in this paper, to design the proposed controller. Theoretical aspects regarding feasibility, stability and optimality...
In this report, the tracking control of the n-dimensional rigid body without angular velocity measurements is considered. Combining the angular velocity observer proposed in the previous paper, it is possible to design output feedback with the so-called reduction property in the sense that the proposed control law reduces to the one that achieves set-point regulation when the desired trajectory is...
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