Adaptive control of uncertain Hammerstein systems with monotonic input nonlinearities using auxiliary nonlinearities

We extend retrospective cost adaptive control (RCAC) to command following for uncertain Hammerstein systems. We assume that only one Markov parameter of the linear plant is known and that the input nonlinearity is monotonic but otherwise unknown. Auxiliary nonlinearities are used within RCAC to account for the effect of the input nonlinearity.