Adaptive control of Hammerstein systems with unknown Prandtl–Ishlinskii hysteresis

We numerically investigate the sense in which an adaptive control law achieves internal model control of Hammerstein plants with Prandtl–Ishlinskii hysteresis. We apply retrospective cost adaptive control to a command-following problem for uncertain Hammerstein systems with hysteretic input nonlinearities. The only required modeling information of the linear plant is a single Markov parameter. Describing functions are used to determine whether the adaptive controller inverts the plant at the exogenous frequencies.