A very simple robust adaptive controller with a large range of command signals and tolerable uncertain delays

A very simple robust adaptive control system is proposed. It performs very well under large variety of plant perturbations. The structure of the system is motivated by the gain adaptation problem. Proof of local stability is given. Computer simulations prove that the proposed system tolerates large uncertain time delays much better than both classical and recent adaptive controllers. In addition, the range of command signals for which the proposed system delivers good performance is much larger as compared to previously known controllers