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Adaptive control of plants with unknown hystereses

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2 Author(s)
Tao, G. ; Dept. of Electr. Eng., Virginia Univ., Charlottesville, VA, USA ; Kokotovic, P.V.

For a system with hysteresis, the authors present a parameterized hysteresis model and develop a hysteresis inverse. The authors then design adaptive controllers with an adaptive hysteresis inverse for plants with unknown hysteresis. A new adaptive controller structure is introduced which is capable of achieving a linear parameterization and a linear error model in the presence of a hysteresis nonlinearity. A robust adaptive law is used to update the controller parameters and hysteresis inverse parameters, which ensures the global boundedness of the closed-loop signals for a wide class of of hysteresis models. Simulations show that the use of the adaptive hysteresis inverse leads to major improvements of system performance

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Automatic Control, IEEE Transactions on  (Volume:40 ,  Issue: 2 )