Backstepping control of a class of nonlinear systems preceded by hysteresis with Prandtl-Ishlinskii presentations

Chun Yi Su, Qingqing Wang, Xinkai Chen, Subhash Rakheja

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


Control of nonlinear systems preceded by unknown hysteresis nonlinearities is a challenging task. in the literature, many mathematical models have been proposed to describe the hysteresis. The challenge addressed here is how to fuse those hysteresis models with available robust control techniques to have the basic requirement of stability of the system. The purpose of the paper is to show such a possibility by using the Prandtl-Ishlinskii (PI) hysteresis model. A backstepping based robust control approach, serving as an illustration, is fused with the PI model without necessarily constructing a hysteresis inverse. The global stability of the system and tracking a desired trajectory to a certain precision are achieved. Simulations performed on a nonlinear system illustrate and further validate the effectiveness of the proposed approach.

Original languageEnglish
Title of host publicationProceedings of the 16th IFAC World Congress, IFAC 2005
PublisherIFAC Secretariat
Number of pages6
ISBN (Print)008045108X, 9780080451084
Publication statusPublished - 2005

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670


  • Adaptive control
  • Hysteresis
  • Nonlinear systems
  • Robust control
  • Stability

ASJC Scopus subject areas

  • Control and Systems Engineering


Dive into the research topics of 'Backstepping control of a class of nonlinear systems preceded by hysteresis with Prandtl-Ishlinskii presentations'. Together they form a unique fingerprint.

Cite this