Souad Chaouch  , Mohamed-Said Nait-Said  , 
    Backstepping Control Design for Position and Speed Tracking of DC Motors,
    Asian Journal of Information Technology,
    Volume 5,Issue 12,
    2006,
    Pages 1367-1372,
    ISSN 1682-3915,
    ajit.2006.1367.1372,
    (https://makhillpublications.co/view-article.php?doi=ajit.2006.1367.1372)
    Abstract: The study deals with the tracking control problem of DC motors using backstepping design. This approach is based on the use of the non linearites in the DC motor model with both electrical and mechanical dynamics and finding a direct relationship between the motor output and input quantities without affecting the speed regulation. The proposed control scheme is not only to stabilize the DC motor, but also to drive the speed tracking error to converge to zero asymptotically. System robustness and asymptotic position tracking performance are shown through simulation results.
    Keywords: Backstepping control;DC motors;lyapunov stability;nonlinear systems