This paper studies the output control for a linear plant containing uncertain hysteresis nonlinearities both in actuator and sensor devices, where the hysteresis is represented by Prandtl-Ishlinskii model. A new adaptive control scheme is developed to compensate the uncertainties in the plant, the actuator and the sensor, and to generate an estimate of the plant output. The proposed control law ensures that all the signals in the closed-loop system are uniformly bounded. Furthermore, asymptotic zero tracking of the error between the estimated output and the desired output is guaranteed. The effectiveness of the proposed algorithm is shown by computer simulation.