This paper presents a continuous-time adaptive control scheme for systems with uncertain nonsymmetrical\ndeadzone nonlinearity located at the output of a plant. An adaptive inverse function\nis developed and used in conjunction with a robust adaptive controller to reduce the effect of\ndeadzone nonlinearity. The deadzone inverse function is also implemented in continuous time,\nand an adaptive update law is designed to estimate the dead zone parameters. The adaptive output\ndead zone inverse controller is smoothly differentiable and is combined with a robust adaptive\nnonlinear controller to ensure robustness and boundedness of all the states of the system as well\nas the output signal. The mismatch between the ideal deadzone inverse function and our proposed\nimplantation is treated as a disturbance that can be upper bounded by a polynomial in the system\nstates. The overall stability of the closed-loop system is proven by using Lyapunov method, and\nsimulations confirm the efficacy of the control methodology.
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