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has been cited by the following article:

• TITLE: Backstepping Technique Based on Error

  AUTHORS: Li Wang

  KEYWORDS: Backstepping Technique, Lyapunov Function, Error, Strictly Feedback Nonlinear Control System

  JOURNAL NAME: Open Access Library Journal, Vol.3 No.11, November 9, 2016

  ABSTRACT: Backstepping technique usually adopts back step design to construct the Lyapunov function gradually, and then to design the corresponding virtue controller. The backstepping technique based on error also adopts back step design process, but the design of virtue controllers depends on the corresponding errors which are designed to satisfy some expected behaviors. Six different error equations are deduced by changing the results of the virtue controls arbitrarily while guaranteeing the system behaviors such as stability, and an example shows the effectiveness of these six versions. Simulated results illustrate that these six versions of backstepping technique based on error are effective.