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We present two redesigns to robustify backstepping control laws against dynamic uncertainties in the input of the plant. In the first redesign we construct a passivating control law from a control Lyapunov function obtained by backstepping. The second redesign is a simplification of the first, useful for high-order systems. We also compare the stability margins of the two main versions of backstepping: cancellation and L/sub G/V-backstepping.
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Arcak et al. (2000) studied this question.
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