In this work the relay feedback identification is extended to handle imperfect actuators. In particular, the effects of actuator with hysteresis on relay feedback are explored. Comparisons are made between the ideal and saturation relays. Results show that the ramp behavior of the saturation relay can alleviate the overestimate in the ultimate gain. However, it still results in oscillatory closed-loop responses as: the width of hysteresis increases. Two approaches are proposed to overcome the inaccuracy in the estimate of ultimate properties. If the width of hysteresis is known a priori (e.g., from estimation, bump test etc.), the shape of the relays can be modified to regain the accuracy in the estimate of ultimate properties. Another approach is to identify the width of the hysteresis and ultimate properties simultaneously. This is a simple modification of existing relay feedback tests. The method is tested on linear systems with and without measurement noise as well as nonlinear recycle plant. Simulation results show that very good estimates of ultimate properties can be obtained using the proposed method. It provides better reliability for the autotuning under imperfect actuators.