Adaptive robust tracking and model following of uncertain time-delay systems via output feedback control

The problem of adaptive robust tracking and model following is considered for a class of linear dynamical systems with multiple delayed state perturbations, time-varying uncertain parameters, and external disturbance. A class of adaptive output feedback controllers is proposed for robust tracking of dynamical signals. Based on the strictly positive realness of the nominal system, it is shown from the Kalman-Yakubovitch lemma that the proposed adaptive robust output feedback tracking controller can guarantee the zero-error tracking.