A new output feedback adaptive input time-delay compensation scheme for uncertain systems

Design of output feedback model reference adaptive control (MRAC) for a class of systems with input delay based only on the lumped-delays is developed. To overcome the difficulty to directly predict the plant output, a control design is proposed based on new approach. The approach relies on a decomposition of the adaptive control design procedure where a “generalized error”, and auxiliary linear filters with adjustable gains are introduced. The effect of such a decomposition is to pull the input delay out of first step of the design procedure.