Adaptive backstepping control design for electromechanical systems

In this article, an adaptive backstepping control scheme is proposed for electromechanical systems with parametric uncertainty. The adaptive backstepping control scheme produces control signal in backstepping manner such that the system output tracks the desired reference. The closed-loop system stability is guaranteed by Lyapunov stability theory. The effectiveness of the adaptive backstepping control is validated through the simulation and experiment.