Nonlinear Backstepping Control（非线性反步控制）的Matlab代码

模拟了一个二维的非线性系统，并使用Nonlinear Backstepping Control算法来控制该系统。

% Define system parameters
A = [0 1; -1 -2];
B = [0; 1];
C = [1 0];

% Define control objectives
Q = [1 0; 0 1];
R = 1;

% Define initial conditions
x0 = [0; 0];

% Define simulation time
T = 20;
dt = 0.01;
t = 0:dt:T;

% Initialize control variables
u = zeros(size(t));
x = zeros(2,length(t));
x(:,1) = x0;

% Nonlinear Backstepping Control Loop
for i = 1:length(t)-1
    % State estimation
    x_hat = x(:,i);
    
    % Control law
    u(i) = -R^(-1)*B'*(x_hat + [0; 2]);
    
    % State update
    x(:,i+1) = x(:,i) + (A*x(:,i) + B*u(i))*dt;
end

% Plot results
plot(t,x(1,:),'LineWidth',2);
xlabel('Time (s)');
ylabel('State x_1');
title('Nonlinear Backstepping Control');