ADAPTIVE-CONTROL OF PLANTS WITH UNKNOWN HYSTERESES

For a system with hysteresis, we present a parameterized hysteresis mo del and develop a hysteresis inverse. We then design adaptive controll ers with an adaptive hysteresis inverse for plants with unknown hyster eses, A new adaptive controller structure is introduced which is capab le of achieving a linear parameterization and a linear error model in the presence of a hysteresis nonlinearity. A robust adaptive law is us ed to update the controller parameters and hysteresis inverse paramete rs, which ensures the global boundedness of the closed-loop signals fo r a wide class of hysteresis models. Simulations show that the use of the adaptive hysteresis inverse leeds to major improvements of system performance.