Robust Backstepping Control for Cold Rolling Main Drive System with Nonlinear Uncertainties

Table 1

Rolling parameters.

Parameters	Value and unit
𝐽1	1552 kg·m^2
𝐽2	1542 kg·m^2
𝐾12	5.93 × 10^6 N·M/rad
Δ	0.1 rad
𝑅	0.4 m
𝑃	932 KN
𝑐	0.06
𝑑	0.0024