Frank L. Lewis & Gang Tao 
Adaptive Control of Nonsmooth Dynamic Systems 

A complete reference to adaptive control of systems with nonsmooth industrial nonlinearities such as: backlash; dead-zones; component failure; friction; hysteresis; saturation; and time delays.Actuator nonlinearities are ubiquitous in engineering practice and limit control system performance. While standard feedback control alone cannot handle these nonsmooth nonlinearities effectively, this book shows how such nonlinear characteristics can be compensated for by using adaptive and intelligent control techniques. This allows desired system performance to be achieved in the presence of uncertain nonlinearities. With surveys of literature and summaries of various design methods, the contributors present new solutions to some important issues in adaptive control of systems with various sorts of nonsmooth nonlinearities.The book motivates more research activities in the field of adaptive control of nonsmooth nonlinear industrial systems by formulating several challenging open problems in related areas.