{"id":"https://openalex.org/W2104403804","doi":"https://doi.org/10.1016/s0947-3580(96)70025-0","title":"Overcoming the Obstacle of High Relative Degree","display_name":"Overcoming the Obstacle of High Relative Degree","publication_year":1996,"publication_date":"1996-01-01","ids":{"openalex":"https://openalex.org/W2104403804","doi":"https://doi.org/10.1016/s0947-3580(96)70025-0","mag":"2104403804"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1016/s0947-3580(96)70025-0","pdf_url":null,"source":{"id":"https://openalex.org/S21401918","display_name":"European Journal of Control","issn_l":"0947-3580","issn":["0947-3580","1435-5671"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true},"type":"article","type_crossref":"journal-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1016/s0947-3580(96)70025-0","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078535932","display_name":"A. Stephen Morse","orcid":"https://orcid.org/0000-0002-6796-7967"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"A.S. Morse","raw_affiliation_strings":["Department of Electrical Engineering, Yale University, New Haven, Connecticut, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Yale University, New Haven, Connecticut, USA","institution_ids":["https://openalex.org/I32971472"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5078535932"],"corresponding_institution_ids":["https://openalex.org/I32971472"],"apc_list":{"value":2850,"currency":"USD","value_usd":2850,"provenance":"doaj"},"apc_paid":{"value":2850,"currency":"USD","value_usd":2850,"provenance":"doaj"},"fwci":0.0,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.795332,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":84,"max":85},"biblio":{"volume":"2","issue":"1","first_page":"29","last_page":"35"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Robotic Control and Stabilization Techniques","score":0.9996,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Robotic Control and Stabilization Techniques","score":0.9996,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Model Predictive Control in Industrial Processes","score":0.9971,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10046","display_name":"Networked Control Systems","score":0.9745,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive Control","score":0.629405},{"id":"https://openalex.org/keywords/degree","display_name":"Degree (music)","score":0.548703},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback Control","score":0.548237},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust Control","score":0.540693},{"id":"https://openalex.org/keywords/constraint-handling","display_name":"Constraint Handling","score":0.519172},{"id":"https://openalex.org/keywords/skepticism","display_name":"Skepticism","score":0.46815446}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8677136},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.56328297},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5533601},{"id":"https://openalex.org/C2775997480","wikidata":"https://www.wikidata.org/wiki/Q586277","display_name":"Degree (music)","level":2,"score":0.548703},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.51025176},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5008383},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48430744},{"id":"https://openalex.org/C18296254","wikidata":"https://www.wikidata.org/wiki/Q1395219","display_name":"Skepticism","level":2,"score":0.46815446},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.45902213},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.44753316},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.38440335},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35285133},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.3248672},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3120528},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27676594},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.22604},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.18516362},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.09498364},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":true,"landing_page_url":"https://doi.org/10.1016/s0947-3580(96)70025-0","pdf_url":null,"source":{"id":"https://openalex.org/S21401918","display_name":"European Journal of Control","issn_l":"0947-3580","issn":["0947-3580","1435-5671"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1016/s0947-3580(96)70025-0","pdf_url":null,"source":{"id":"https://openalex.org/S21401918","display_name":"European Journal of Control","issn_l":"0947-3580","issn":["0947-3580","1435-5671"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[{"score":0.46,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, justice, and strong institutions"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":20,"referenced_works":["https://openalex.org/W116364372","https://openalex.org/W1976490055","https://openalex.org/W1982440936","https://openalex.org/W2008373947","https://openalex.org/W2038967755","https://openalex.org/W2045244112","https://openalex.org/W2064486942","https://openalex.org/W2096808185","https://openalex.org/W2098894224","https://openalex.org/W2147873335","https://openalex.org/W2149320278","https://openalex.org/W2154831602","https://openalex.org/W2165503808","https://openalex.org/W2171018355","https://openalex.org/W2346219705","https://openalex.org/W3023665282","https://openalex.org/W3145643961","https://openalex.org/W4206928837","https://openalex.org/W4237939295","https://openalex.org/W82260158"],"related_works":["https://openalex.org/W4382203996","https://openalex.org/W2972367213","https://openalex.org/W2793080664","https://openalex.org/W2771027241","https://openalex.org/W2534185822","https://openalex.org/W2186140227","https://openalex.org/W2132535444","https://openalex.org/W1963225701","https://openalex.org/W1847613412","https://openalex.org/W1765905465"],"abstract_inverted_index":{"Promulgated":[0],"by":[1,9,204,215],"some":[2],"with":[3,7,126,247],"religious-like":[4],"fervor,":[5],"viewed":[6],"skepticism":[8],"others,":[10],"adaptive":[11,49,73,254,301],"control":[12,50,74,115,193],"has":[13,51,231],"for":[14,223],"almost":[15],"40":[16],"years":[17,176],"been":[18],"one":[19],"of":[20,32,68,108,130,150,183,240,250,260,277,292,299],"the":[21,30,100,104,109,121,137,159,181,209,216,271,275,278,282,290,296],"most":[22],"alluring,":[23],"intriguing,":[24],"and":[25,89,106,144,162,178,220,236,255,287],"often":[26],"misunderstood":[27],"areas":[28],"within":[29],"field":[31],"automatic":[33],"control.":[34,302],"In":[35],"truth,":[36],"despite":[37],"its":[38,42,241],"present":[39],"shortcomings":[40],"(e.g.,":[41],"failure":[43],"to":[44,62,85,99,120,190,245,264,269,274,281,288],"adequately":[45],"address":[46],"performance":[47],"issues)":[48],"come":[52],"quite":[53,232],"a":[54,66,78,92,148,207,226],"long":[55],"way":[56],"since":[57],"first":[58,155],"conceived.":[59],"Once":[60],"amounting":[61],"little":[63],"more":[64,224],"than":[65,201,225],"collection":[67],"seemingly":[69],"unrelated":[70],"heuristic":[71],"ideas,":[72],"now":[75,110,166],"rests":[76],"on":[77,136,180],"bona":[79],"fide":[80],"foundational":[81],"theory":[82],"which":[83,195],"serves":[84],"explain":[86,265],"basic":[87],"concepts":[88],"constructions":[90],"in":[91,158,199,252,295],"principled":[93],"manner.":[94],"An":[95],"early":[96],"advance":[97],"contributing":[98],"theory's":[101],"development":[102],"was":[103,124,196,212],"formulation":[105],"resolution":[107,123],"classical":[111,283],"siso":[112],"\u2018model":[113],"reference":[114,285],"problem\u2019.":[116],"The":[117,134,153,186,258],"main":[118],"obstacle":[119],"problem's":[122,154],"dealing":[125],"nominal":[127],"process":[128],"models":[129],"high":[131],"\u2018relative":[132],"degree\u2019.":[133],"assault":[135],"relative":[138],"degree":[139],"problem":[140,286],"involved":[141],"many":[142],"people":[143],"took":[145],"place":[146],"over":[147],"period":[149],"several":[151],"years.":[152],"solution":[156,172,280],"appeared":[157],"late":[160],"1970s":[161],"used":[163],"what":[164,266],"is":[165],"called":[167],"\u2018integrator":[168],"backstepping\u2019.":[169],"A":[170],"second":[171],"emerged":[173],"about":[174],"2":[175],"later":[177],"relied":[179],"idea":[182],"\u2018error":[184],"normalisation\u2019.":[185],"latter":[187],"approach":[188,211,219],"led":[189],"an":[191],"overall":[192],"algorithm":[194],"far":[197],"simpler":[198],"form":[200],"that":[202],"provided":[203],"backstepping.":[205],"As":[206],"result":[208],"backstepping":[210,230,267,279],"totally":[213],"eclipsed":[214],"error":[217],"normalisation":[218],"remained":[221],"so":[222],"decade.":[227],"Ironically,":[228],"integrator":[229],"recently":[233],"enjoyed":[234],"renewed":[235],"considerable":[237],"attention":[238],"because":[239],"apparently":[242],"unique":[243],"ability":[244],"deal":[246],"certain":[248],"types":[249],"nonlinearities":[251],"both":[253],"nonadaptive":[256],"systems.":[257],"aims":[259],"this":[261,293],"paper":[262],"are":[263],"is,":[268],"chronicle":[270],"events":[272],"leading":[273],"discovery":[276],"model":[284],"discuss":[289],"significance":[291],"work":[294],"broader":[297],"context":[298],"contemporary":[300]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2104403804","counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2024-11-24T11:25:21.428520","created_date":"2016-06-24"}