Modified high-order adaptive algorithm for decentralized control of multivariable structurally uncertain plants with state delay

The subject of this paper is solving the adaptive dynamic controller design problem for interconnected systems with structural and parametric uncertainty for the case when derivatives of input and output parameters cannot be measured. The operability of the designed control systems subject to non-measurable bounded disturbances is presented. Only the measurable variables of the local subsystems are used to generate the control actions, therefore control is completely decentralized.