Hysteresis hinders the effectiveness of smart materials in sensors and actuators. It is a challenging task to control the systems with hysteresis. This paper discussed the identification of hysteresis described by Prandtl-Ishlinskii model. The control method of hysteresis output is proposed. Then, the robust control for the linear systems preceded with hysteresis is considered. The unknown parameters of the system together with the density function of the hysteresis are adaptively estimated. The robust sliding mode tracking controller is synthesized by using the estimated parameters of the system and the density function of the hysteresis. The output tracking can be approximately achieved by using the proposed controller.