@Article{, title={Design of an Optimal Backstepping Controller for Nonlinear System under Disturbance}, author={Mohammed K. Hamzah and Luay T. Rasheed a*,}, journal={Engineering and Technology Journal مجلة الهندسة والتكنولوجيا}, volume={39}, number={3 part (A) Engineering}, pages={465-476}, year={2021}, abstract={The aim of the work for this paper is the design of an optimal backsteppingcontroller for a nonlinear pendulum system to stabilize the position ofpendulum’s ball suspended in the desired position. The Cuckoooptimization algorithm (COA) has been utilized to get and tune the gainvariables of the proposed backstepping controller in order to find the besttorque action for the system. The numerical simulation results using(MATLAB package) show the robustness and the effectiveness of theproposed backstepping based COA controller in terms of obtaining thebest torque control action without a saturation state that will stabilize thependulum system performance. The simulation results show also that theproposed control system when compared with the other controller resultshas the capability of minimizing the pendulum’s ball position trackingerror to the zero value at the steady state response and speeding up thesystem response. Moreover, the fitness evaluation value is reduced

} }