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With the growing use of feedback controls, "hard" nonlinearities have become ubiquitous in engineering practice despite their rare treatment in academic texts. This book introduces a unified adaptive inverse approach for the control of systems with unknown nonlinearities and settles long-standing engineering problems posed by imperfections of actuators and sensors. Focusing on dead-zone, backlash, and hysteresis, the authors show how real-time computations can counteract the effects of these nonlinearities. In many applications their approach avoids the need for costly and specialized hardware. This easy-to-use, self-contained presentation of the entirely new adaptive inverse design is geared towards practicing engineers, researchers, and graduate students. Adaptive Control of Systems with Actuator and Sensor Nonlinearities features: Systematic treatment for actuator and sensor nonlinearities. Examples of dead-zone, backlash, and hysteresis models and their inverses. Broad coverage that ranges from satellite antennas and piezo-positioners to industrial automation and consumer electronics. Step-by-step instructions for adaptive inverse design and implementation. Unified continuous- and discrete-time presentation. A concise review of model reference adaptive control theory. Extensive illustrations of system performance improvement. Over ninety figures and design examples.

An introduction to a new design for nonlinear control systems backstepping written by its own architects. This innovative book breaks new ground in nonlinear and adaptive control design for systems with uncertainties. Introducing the recursive backstepping methodology, it shows for the first time how uncertain systems with severe nonlinearities can be successfully controlled with this new powerful design tool. Communicative and accessible at a level not usually present in research texts, Nonlinear and Adaptive Control Design can be used as either a stand-alone or a supplemental text in courses on nonlinear or adaptive control, as well as in control research and applications. It eases the reader into the subject matter, assuming only standard undergraduate knowledge of control theory, and provides a pedagogical presentation of the material, most of which is completely new and not available in other textbooks.

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