A design of adaptive control for systems with input nonlinearity and its experimental evaluations

An adaptive Hscr^infin control for systems with input nonlinearity is proposed in this paper. It is assumed that the dead-zone and hysteresis models can be described as unknown parameters term and bounded disturbance term, an adaptive Hscr^infin control method is given. Proposed control strategy does not include a discontinuous function, therefore, it can avoid to cause the chattering phenomena. Moreover, in the closed-loop control system, the Lscr₂ gains from the disturbance to generalized outputs are made less than prescribed positive constants. The effectiveness of the proposed method is demonstrated by experimental results