New developments in dynamical adaptive backstepping control. In this survey paper the authors consider a number of adaptive backstepping control algorithms for observable non-minimum phase nonlinear continuous uncertain systems and for systems with disturbances which can be transformed into parametric semi-strict feedback form. par The topics addressed in this paper include (besides a general introduction into generalized backstepping algorithms) sliding mode and second-order sliding, modular design and the treatment of systems in semi-strict feedback form. A number of examples illustrate these algorithms. par In addition, a short description of the MAPLE package BACK is given, where the algorithms described in this paper are implemented.

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  1. Zinober, Alan S.I.; Scarratt, Julie C.; Mills, Russell E.; Koshkouei, Ali Jafari: New developments in dynamical adaptive backstepping control (2001)