Back-stepping

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Back-stepping is a technique for designing controls for nonlinear systems developed around 1990 by Petar V. Kokotovic and others. It is a recursive technique in which one designs feedback controls and finds Lyapounov functions for a set of n increasingly complex systems, the last system being the one we are interested in. At each step an integrator is added ahead of the input of the system previously stabilized, and one seeks to stabilize the new system.

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