@ARTICLE{Kabziński_Jacek_Adaptive,_2020,
 author={Kabziński, Jacek and Mosiołek, Przemysław},
 volume={68},
 number={No. 5 (i.a. Special Section on Modern control of drives and power converters)},
 journal={Bulletin of the Polish Academy of Sciences Technical Sciences},
 pages={963-971},
 howpublished={online},
 year={2020},
 abstract={The paper describes a nonlinear controller design technique applied to a servo drive in the presence of hard state constraints. The approach presented is based on nonlinear state-space transformation and adaptive backstepping. It allows us to impose hard constraints on the state variables directly and to achieve asymptotic tracking of any reference trajectory inside the constraints, despite unknown plant parameters. Two control schemes (with and without integral action) are derived, investigated and then compared. Several examples demonstrate the main features of the design procedure and prove that it may be applied in case of motion control problems in electric drive automation.},
 type={Article},
 title={Adaptive, nonlinear state transformation-based control of motion in presence of hard constraints},
 URL={http://ochroma.man.poznan.pl/Content/117686/PDF/02_D963-971_01562_Bpast.No.68-5_30.10.20_.pdf},
 doi={10.24425/bpasts.2020.134653},
 keywords={motion control, nonlinear control, adaptive control, state constraints},
}