Abstract
This contribution presents a novel perspective on backstepping control design and sliding mode control for second order systems. It is shown how discontinuous control laws can be induced by suitable choices of control Lyapunov functions during the backstepping procedure. The advantages of this methodology are underlined through the design of a class of robust adaptive control laws that are capable to compensate for parametric uncertainties and unknown bounded disturbances. Simulation results are presented to validate the designed control law.
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