This paper deals with the application of a simple adaptive algorithm for robust tracking control of an electro-pneumatic clutch actuator with output feedback. We present a mathematical model of the strongly nonlinear system. and implement an adaptive algorithm. based on a parallel feedforward compensator (PFC) to remove the relative-degree-1 restriction. https://poolsproductscanadas.shop/product-category/hayward-hcf-filter-series-parts/