 Systems in strict-feedback form can be stabilized by recursive application of backstepping.That is,


This process is known as backstepping because it starts with the requirements on some internal subsystem for stability and progressively "steps back" out of the system, maintaining stability at each step.Because
then the resulting system has an equilibrium at the origin (i.e., where formula_58, formula_59, formula_60, ... , formula_61, and formula_62) that is globally asymptotically stable.