Abstract
This article addresses the problem of transient performance improvement in adaptive backstepping design. A new modular design with a high-order tuner providing <i>complete compensation</i> of the adjustable parameters’ time variations is proposed. The <inline-formula><tex-math notation="LaTeX">${\mathcal L}_\infty$</tex-math></inline-formula> performance bound for the state error is derived and verifies a better transient performance of the proposed controller compared to the known ones designed based on tuning functions and modular approach with first-order tuners.
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