Adaptive compensation for robust tracking of uncertain dynamic delay systems

To overcome the drawbacks of the high-gain feed-back term, a controller with an adaptive compensation term is developed for robust tracking of uncertain dynamic delay systems. It is proved that the introduction of the adaptive compensation term will not affect the stability of the original closed-loop system. In this way, it will be practically flexible to decide whether to include the adaptive compensation term depending on the tracking performance requirements and controller gain constraints. The effectiveness of the proposed controller is demonstrated by numerical examples.