Adaptive output dead-zone compensation

An adaptive control design is proposed for plants with an unknown dead-zone at the output of a known but possibly nonminimum phase linear dynamics. The proposed controller employs a dead-zone inverse and a pole placement control law designed with the internal model principle to cancel the dead-zone effect and to achieve the desired tracking performance. It results in a linearly parametrized estimation error which is crucial for obtaining an adaptive law for updating the adaptive inverse parameters. Simulation results show that our adaptive control scheme significantly improves the system performance