For mechanical servo system,a novel servo controller based on integral backstepping scheme was presented,the controller has strong robustness to external disturbance and system parameter changes.

• 针对机械伺服系统,提出了一种基于积分反推原理的新型的伺服控制器。该控制器对外部扰动及系统参数变化具有较强的鲁棒性。