Synthesis of Adaptive Gain Robust Controllers for Polytopic Uncertain Systems with Multiple Unknown Dead-Zone Inputs

This paper deals with a design problem of adaptive gain robust controllers for polytopic uncertain systems with unknown dead-zone nonlinearities for inputs. The parameters for dead-zone characteristics are assumed to be unknown. In order to reduce the effect for dead-zone nonlinearities, an adaptive dead-zone inverse method is utilized and a compensation input for uncertainties are introduced. In this paper, sufficient conditions for the existence of the proposed adaptive gain robust controller are shown. Moreover, a numerical example is given to demonstrate the effectiveness of the proposed adaptive gain robust controller.