Indonesian Journal of Electrical Engineering and Computer Science Vol. 26, No. 3, June 2022, pp. 1315~1327 ISSN: 2502-4752, DOI: 10.11591/ijeecs.v26.i3.pp1315-1327  1315 Journal homepage: http://ijeecs.iaescore.com Tracking control for planar nonminimum-phase bilinear control system with disturbance using backstepping Khozin Mu’tamar, Janson Naiborhu, Roberd Saragih, Dewi Handayani Department of Mathematics, Faculty of Mathematics and Natural Sciences, Institut Teknologi Bandung, Bandung, Indonesia Article Info ABSTRACT Article history: Received Jan 13, 2022 Revised Mar 17, 2022 Accepted Mar 29, 2022 This article presents the design control of a tracking problem for a non- minimum phase bilinear control system containing disturbance. The bilinear control system is assumed to have a relative degree one and non-minimum phase, which means it has unstable internal dynamics. The disturbance exists only in state variables corresponding to the control function in external dynamics. The control design was carried out using the backstepping method, which was applied to the normal form of the bilinear control system. Internal dynamics will be stabilised using virtual control to overcome unstable internal dynamics. The last step will stabilise the external dynamics and disturbance using the original control function. The simulation results show that the proposed control method can rapidly drive the output to the given trajectory. Control performance varies depending on the control parameter setting. The higher the control parameter, the better the control performance, evaluated using integral absolute error. Keywords: Backstepping method Bilinear control system Internal dynamic Nonminimum-phase Uncertain system This is an open access article under the CC BY-SA license. Corresponding Author: Khozin Mu’tamar Department of Mathematics, Faculty of Mathematics and Natural Sciences, Institut Teknologi Bandung Jl. Ganesha No. 10, Bandung 40132, Jawa Barat, Indonesia Email: mutamar.khozin@students.itb.ac.id 1. INTRODUCTION The dynamical system is widely used in modelling and analysing natural phenomena, both physical and social behaviour. The accuracy in the analysis process is highly dependent on the modelling process, including the selection of the type of model used [1], [2]. Models with nonlinear equations are the best form of modelling, but nonlinear systems are complicated to analyse, so approximations are often made to interpret them. The bilinear control system is one of the classes and is the best approximation of the nonlinear control system [3], [4]. The approximation of a nonlinear control system using a bilinear control system can be made using the Carleman transformation [3] or the Jacobian transformation [5]. The advantages of a bilinear control system in approaching a nonlinear control system compared to a linear control system in terms of performance, optimisation and modelling processes [6]–[8]. Intensive studies on the use of bilinear control systems in several fields in economics and chemistry can be referred to [1], [9], [10]. Some examples of the use of other bilinear control systems can be seen in the boost converter problem in [11], [12], on controlling the spread of disease in [13], [14], on directing ship motion in [15], on regulating hot water storage in [16], on the diesel engine fuel collector in [17]. The application of control to the Hilbert chamber using finite feedback has also been carried out [18]. The model's accuracy is also determined from the modelling process carried out. According to Amato [19] the dynamical system contains an uncertainty factor due to simplifying the modelling and parameter estimation processes. The first uncertainty factor occurs in the modelling process because the phenomenon's complexity cannot be fully