Nonlinear Control Design with Inequality Constraints: Application to Magnetic Levitation System
This paper deals with a generalization of classical backstepping nonlinear control technique, adjusted so that it may be used for a wider class of dynamical systems than the strict-feedback form. This extension of backstepping is interesting from our point of view, both in theory and in practice, since a large number of industrial applications may benefit from it. Theoretical aspects concerning design procedure (stability and optimality) are presented in a constructive manner, applied to a special type of magnetic levitation system. Robustness and performance issues with respect to other nonlinear control techniques already existing in known literature will be addressed, by plotting some compared simulation results.