... 矛盾命题 contradictory propositions 逆步；反步 contragradience 逆步的；反步的{注:译作逆梯度不妥!} contragradient ...
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而反步设计方法可以处理系统中的可参数化非匹配不确定性。
The control problem of nonlinear systems with nonparametric mismatching uncertainties is solved successfully by the proposed design method.
因此，设计了一种基于自适应反步控制器的效率优化控制方案，使其误差系统在原点全局稳定。
Therefor, An adaptive backstepping controller is designed to optimize the efficiency and the system error is global stable at the origin.
用反步设计思想获得具有待定参数的控制器表达式，然后用预测控制在线优化获得控制器的参数。
The controller expression with undetermined parameters can be acquired by using backstepping design idea, and the controller parameters are optimized online by using model predictive control.
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