Abstract
Convex optimization and dynamic control are employed in this work to overcome limitations of the backstepping control technique, regarding handling of uncertain MIMO non-affine-in-control systems subject to additive disturbances. To this end, a novel set of conditions for H∞ attenuation in the form of linear matrix inequalities is developed based on the direct Lyapunov method and exact Takagi-Sugeno models. The proposal is put at test both in academic and physical systems that cannot otherwise be treated by standard backstepping techniques.
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