Chapter Two explains the importance and relevance of the control problem with nonsmooth nonlinearities. The key component of the proposed approach, the inverse, is introduced in Chapter Three, for an actuator nonlinearity. Like neither an exact inverse which needs the nonlinearity knowledge nor a detuned inverse which results in a compensation error, an adaptive inverse, introduced in Chapter Five, is able to adaptively cancel the effects of an unknown nonlinearity. With such an adaptive inverse, adaptive inverse controllers are designed in Chapter Six in continuous time and in Chapter Seven in discrete time, for systems with actuator nonlinearities. A sensor nonlinearity is more difficult to deal with, as indicated in Chapter Eight, where a more sophisticated inverse design is also presented to achieve the desired output matching.
Chapter Nine develops adaptive inverse control designs for systems with sensor nonlinearities.
With partial system knowledge, the order of an adaptive control design can be reduced and the performance can be improved, as shown in Chapter Ten. As a further development of the adaptive inverse approach, Chapter Eleven has the desired inverse control designs for a class of sandwich nonlinear systems, those with both actuator and sensor nonlinearities. Bibliography contains the most important references, in particular, the complete collection of the recent results, in the related research areas. Finally, Index helps locating many new concept items used throughout the book. This book points to a direction to design control systems which, after a period of learning or adaptation, can recognize component imperfections and compensate for their harmful effects.