Position Control of Pneumatic System Using High Gain and Backstepping Controllers

Abstract

This paper investigates the applicability of two state feedback controllers for a class of uniformly controllable and observable nonlinear systems. The first one is based on an appropriate high gain control principle that has been developed by duality from the high gain observer principle. The state feedback control gain is particularly provided by a synthesis function satisfying a well-defined condition, leading thereby to a unification of the high gain control designs. The second one is a backstepping controller that has been developed from a suitable combination of the backstepping control approach bearing in mind the high gain control principle pursued for the first controller design. A common engineering design feature that is worth to be mentioned consists in properly formulating their underlying control problems as a regulation problem involving a suitable reference model with respect to the structure of the system as well as the control design principle under consideration. Of fundamental interest, the involved reference model is systematically derived thanks to the flatness and backstepping principles using an appropriate Lyapunov approach. An experimental evaluation is carried out to illustrate the efficiency of the proposed nonlinear controllers.