Abstract:

This paper summarizes the forming, development，main schemes and characteristics of the backstepping technique from control discipline angle, especially its applications and progression in five areas: state feedback nonlinear uncertain systems, output feedback nonlinear uncertain systems, discretetime nonlinear uncertain systems, linear uncertain systems and stochastic nonlinear uncertain systems. Moreover, the existing problems of backstepping in uncertain system applications are pointed out, and the related solving methods to these problems are also proposed.