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We address the problem of setpoint regulation for cascaded minimum-phase linear systems interconnected through a scalar hysteresis, modeled as a Prandtl-Ishlinskii operator. Employing well-posed constrained differential inclusions to represent the hysteretic dynamics, we formulate the control problem in terms of stabilization of a compact set of equilibria depending on the hysteresis states. For our design, we firstly consider a proportional-integral controller for linear systems with hysteretic input, and provide model-free sufficient conditions based on high-gain arguments for closed-loop stability. Then, the controller is dynamically extended to obtain an inversion-free stabilizer of the overall cascade. For the presented schemes, we prove robust global asymptotic stability of a compact set that ensures setpoint regulation, regardless of the hysteresis states.

Robust Global Asymptotic Stabilization of Linear Cascaded Systems With Hysteretic Interconnection