This article studies the uniformly ultimately bounded output tracking problem of uncertain nonlinear sandwich systems with sandwiched dead-zone nonlinearity in the presence of some practical constraints such as nonsymmetric input saturation, model uncertainties, time-varying external disturbances, and unknown parameters. Due to the existence of both dead-zone and saturation nonlinearities, the design process is more complicated; therefore, to solve the design complexities, the designing process is divided into two phases. The proposed method leads to output tracking with acceptable accuracy. Moreover, all signals in the closed-loop system are ultimately bounded. Simulation results illustrate the applicability and effectiveness of the proposed method by its application on two practical sandwich systems (robotic system and electrohydraulic servo press system).
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