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For the nonlinear systems preceded by smart actuators which exhibit hysteresis nonlinearities, the increasing attention is to design the controller to mitigate the effect of hysteresis. Among the developed approaches, some attempts have been made to fuse the available hysteresis models with available control approaches without the inverse hysteresis construction. Focusing on the Prandtl-Ishlinskii model, a generalized Prandtl-Ishlinskii model, which can accommodate more general class of hysteresis shapes than the conventional Prandtl-Ishlinskii model, will be fused with robust control techniques. The global stability of the system and tracking a desired trajectory to a certain precision are achieved, and simulation results attained for a nonlinear system are presented to illustrate and further validate the effectiveness of the proposed approach.