Adaptive control of plants with unknown hystereses

The authors present a parametrized hysteresis model and develop a hysteresis inverse. They then design adaptive controllers with an adaptive hysteresis inverse for plants with unknown hystereses. A novel adaptive controller structure is introduced which is capable of achieving a linear parametrization and a linear error model in the presence of a hysteresis nonlinearity. A robust adaptive law updates the controller parameters and ensures the global boundedness of the closed-loop signals. Extensive simulations show that the use of the adaptive hysteresis inverse leads to major improvements in system performance.