Robust adaptive controller design for a class of nonlinear systems preceded by generalized Prandtl-Ishlinskii hysteresis representation

It is a challenge to fuse the available hysteresis models with controller design techniques to mitigate the effect of hysteresis when preceding with systems. Though the conventional Prandtl-Ishlinskii model has been primarily fused with robust control methods in the literature, the fusion of a generalized Prandtl-Ishlinskii model is a further interesting topic worthy of pursuing because it offers certain advantages over the conventional one. As an illustration, a robust adaptive control scheme is proposed for a class of general nonlinear systems preceded by a generalized Prandtl-Ishlinskii Hysteresis. The global uniform ultimate boundedness of the closed-loop system is achieved, and the effectiveness of the proposed control approach is demonstrated through simulation example.