Model reference control of uncertain time-delay systems

The control of a class of linear uncertain dynamic systems having time delays in state and control is investigated. The plant and input matrices of the system contain uncertain elements. The only information available about the uncertain parameters is the bounding sets in which they lie. Under certain assumptions a nonlinear control law is developed which forces the plant output to track the output of a delay-free reference model. The tracking error does not asymptotically decrease to zero; instead the error is bounded. This bound can be made arbitrarily small. The application of the theory is illustrated providing computer simulation results.