  This paper proposes an original solution to input saturation and dead zone of
fractional order system. To overcome these nonsmooth nonlinearities, the
control input is decomposed into two independent parts by introducing an
intermediate variable, and thus the problem of dead zone and saturation
transforms into the problem of disturbance and saturation afterwards. With the
procedure of fractional order adaptive backstepping controller design, the
bound of disturbance is estimated, and saturation is compensated by the virtual
signal of an auxiliary system as well. In spite of the existence of nonsmooth
nonlinearities, the output is guaranteed to track the reference signal
asymptotically on the basis of our proposed method. Some simulation studies are
carried out in order to demonstrate the effectiveness of method at last.
