Backstepping control of sandwich‐like non‐linear systems with deadzone non‐linearity

This study studies the output tracking control of a class of sandwich‐like systems with state‐dependent deadzone non‐linearity between two cascaded subsystems (e.g. the gear transmission systems). An exact differentiator‐based backstepping control for such a sandwich‐like non‐linear system is proposed. The proposed controller utilises the high‐order sliding mode robust exact differentiator to compensate the impact of non‐strict feedback coupling term due to the sandwiched deadzone. The stability of the closed‐loop system is guaranteed to be uniform‐ultimately bounded and the output tracking error converges to a residual set. Finally, two simulation examples are provided to demonstrate the tracking performance and effectiveness of the proposed controller.