A simple redesign of model reference adaptive control for state-delayed systems with actuator failures

A simple design method of model reference adaptive control for processes with delayed states and actuator failures of the freezing or lock-in-place type, is considered in the present manuscript. It is shown that the proposed design procedure can be applied to high relative degree cases without complicated control structures, and that global boundedness of the systems is assured for arbitrary time delays and failure patterns. The output errors converge to residual regions whose magnitudes can be made arbitrarily small by choosing design parameters in the high-gain observers.