It is recognized that one can easily design an adaptive output feedback control system for nonlinear systems having the Output Feedback Exponentially Passive(OFEP) properties. However, most practical systems do not satisfy OFEP conditions. To realize an adaptive output feedback control system, we introduce a Parallel Feedforward Compensator(PFC) for a non-OFEP nonlinear system and design an adaptive feedforward input with a structure of Radial Basis Function(RBF) neural networks in order to

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... ve the steady-state bias error from the PFC output. On the other hand, actual systems may have an input saturation. And it sometimes causes a degradation of control performance or the destabilization of the system. In this paper, we propose an adaptive Anti-Winup control scheme for OFEP nonlinear systems with PFC. Forthermore, the effectiveness of the proposed method will be confirmed through numerical simulations.