Variable structure model reference adaptive control with an augmented error signal for input-delay systems

This paper is concerned with a variable structure model-reference adaptive control (VS-MRAC) scheme for uncertain stability input-delay systems. A new method to solve the problem is presented using signals model reference prediction and auxiliary model to induce sliding modes. An augmented error signal replaces the error normally used, which is defined as the difference between the plant and model outputs. The offered algorithm guarantees asymptotic properties of an error in case of presence in a closed system of a signal with a rich spectrum and dissipativity properties otherwise. Simulations results show the effectiveness of the proposed scheme.