Robust adaptive integral backstepping control and its implementation on motion control system

In this paper a design methodology for a novel robust adaptive integral backstepping controller for the motion control system, has been presented in a systematic manner. Backstepping is a realistic nonlinear control design algorithm based on Lyapunov design approach, as a consequence it automatically ensures the convergence of the regulated variable to zero. Adaptation schemes are designed to estimate the inertia variation and load disturbance in the motion control systems. Integral action is being used to enhance the control action of the controller in steady state against the disturbances. We explore the concept of continuous switching function in parameter update law to ensure the robustness of the adaptive design. The effectiveness of the proposed algorithm has been demonstrated in simulation studies. The controller design has been evaluated not only for the tracking performance but also for the parameters convergence rate of the system. It is quite interesting to note that during the simulation it does not require any prior information about the parameters of the mathematical model of the motion control system.