DIRECT MODEL REFERENCE ADAPTIVE CONTROL OF LINEAR SYSTEMS WITH INPUT/OUTPUT DELAYS

In this paper, we develop a Direct Model Reference Adaptive Tracking Controller for linear systems with unknown time varying input delays. This controller can also reject bounded disturbances of known waveform but unknown amplitude, e.g. steps or sinusoids. In this paper a robustness result is developed for DMRAC of linear systems with unknown small constant or time varying input delays using the concept of un-delayed ideal trajectories. We will show that the adaptively controlled system is globally stable, but the adaptive tracking error is no longer guaranteed to approach the origin. However, exponential convergence to a neighborhood can be achieved as a result of the control design. A simple example will be provided to illustrate this adaptive control method.