| 摘要 |
<P>PROBLEM TO BE SOLVED: To avoid a problem wherein a calculated control input becomes an unrealizable excessive value, and to stabilize control in performing back-stepping control of engine speed. Ž<P>SOLUTION: A controller defining a Liapunov function V<SB>1</SB>not containing an error z<SB>2</SB>of actual virtual inputs v<SB>1</SB>,<SB>2</SB>and an ideal value α<SB>1</SB>of virtual input containing an error z<SB>1</SB>in a first step setting the ideal value α<SB>1</SB>of the virtual input x<SB>2</SB>making the error z<SB>1</SB>of control output y and its target value y<SB>r</SB>zero, defining a Liapunov function V<SB>2</SB>containing the error z<SB>2</SB>and the Liapunov function V<SB>1</SB>in a second step setting true input u making the error z<SB>2</SB>zero, and making a differential value of the Liapunov function V<SB>2</SB>not greater than zero, is designed. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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