Parametrizations for adaptive control of multivariable systems with actuator nonlinearities

There are unknown parameters in the actuator nonlinearities as well as in the dynamics following the actuator nonlinearities, which appear bilinearly. Several linear parametrizations are developed for adaptive control of multivariable systems with actuator nonlinearities. Of particular interest are nonsmooth nonlinearities such as dead-zones, backlash and hysteresis. State feedback and output feedback designs of adaptive actuator nonlinearity compensation controllers are developed for systems with unknown actuator nonlinearities and with known or partially known linear dynamics.