Research on a New Kind of Robust Backstepping Filter Derivative Control Method

摘要

—A novel Lyapunov function, which contains a concept of transfer function, was constructed to prove the rightness of a new kind of robust backstepping filter derivative control method. Meanwhile, the relationship between Lyapunov function and transfer function was established, which is an important concept that can be applied in a large family of control systems. Also, the backstepping design technology is perfectly integrated with the PID control method, which was testified by the simulation result. And comparing with pure derivative method, better performance was achieved by the adopting of filter derivative method.