Actuator failure compensation is an important topic in designing control systems because it can potentially affect the system operation. Also control input saturation which means that due to hardware limitations, the actuator can only supply a limited range of signals, is common in practical control systems. This work presents suitable controller structures for systems with actuator faults, input saturation and unknown control direction. for this purpose, first a KEY WORDS: Adaptive control; Backstepping control; Input saturation; Nuaum functio Actuator fault
