Backstepping Control of Output-feedback Systems Using Cascade Observer

축차 관측기를 이용한 출력 피이드백 시스템의 백스테핑 제어

Backstepping procedures for output-feedback of nonlinear systems are considered. For these systems, a sliding mode cascade observer to estimate derivatives of the output is builded. In the 1st step of the observer, the output is estimated, and the 1st order derivative of the output is estimated via the 2nd step of the observer. Also, n-th order derivative of the output is estimated in the n+1th step of the observer. Observer errors and tracking errors converge to a residual set close to zero asymptotically.