An adaptive control algorithm for linear systems having unknown time delay

Abstract

This paper presents an algorithm for adaptive control of linear systems having unknown time delay. A rational approximation is used for the delay and it is argued that within this framework, the analysis of the properties of the corresponding adaptive control algorithm essentially reduces to the issue of robustness to unmodelled dynamics. A global convergence theory is presented using recent methods for analyzing robustness properties of adaptive control algorithms. The analysis is supported by simulation results. © 1988.