Using The Inclusion-Exclusion Principle to Solve Some Problems

Chain integrator backstepping is a recursive design tool that has been used in nonlinear control systems. The complexity of the computation of the chain integrator backstepping control law makes inevitable the use of a computer algebra system. A recursive algorithm is designed to compute the integrator backstepping control process. A computer algebra program (Maple procedure) is developed for symbolic computation of the control function using a newly developed recursive algorithm. We will present some demonstrative examples to show the stability of the control systems using Lyapunov functions.