Tracking control for planar nonminimum-phase bilinear control system with disturbance using backstepping

This article <span>presents the design control of a tracking problem for non-minimum phase bilinear system containing disturbance. The is assumed to have relative degree one and phase, which means it has unstable internal dynamics. disturbance exists only in state variables corresponding function external was carried out using backstepping method, applied normal form system. Internal dynamics will be stabilised virtual overcome last step stabilise original function. simulation results show that proposed method can rapidly drive output given trajectory. Control performance varies depending on parameter setting. higher parameter, better performance, evaluated integral absolute error.</span>