On the Robust Control of Systems Preceded by Differential Equation-Based Hysteresis Nonlinearities

In this paper, a robust control approach for a class of nonlinear systems preceded by unknown hysteresis nonlinearities is addressed. Due to the complexity of the hysteresis characteristics, the hysteresis can not be linearized directly, and the effects caused by the hysteresis will degrade the system performance. Therefore, it is necessary to design an effective controller mitigating the negative effects. In this paper, the unknown hysteresis is represented by a differential equation-based hysteresis model - Duhem model. By exploring the characteristics of the Duhem model, the developed robust controller ensures the global stability of the system without constructing the hysteresis inverse. The effectiveness of the proposed control approach is demonstrated through a simulation example.