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介绍了非线性控制中的反步 (backstepping)设计方法的基本原理、构成方法及其拓展 ,综述了该方法在非线性鲁棒控制中的应用 ,提出并分析了若干关键性问题
The basic principle, construction method and its extension of backstepping design method in nonlinear control are introduced. The application of this method in nonlinear robust control is summarized. Some key problems are proposed and analyzed