Robust adaptive control for linear systems with delay uncertainty

For a class of uncertain linear systems with delay perturbation, a robust model reference adaptive control design scheme is proposed. Unlike the conventional ones, which transform all the delay into unmodelled dynamics, the scheme only transforms the delay perturbation into unmodelled dynamics. Meanwhile the desired delay acquired by some way is considered as the modelled part, so that the modelling of the systems is more accurate. The stability and robustness of the systems with delayed modelled part are investigated. Simulation results illustrate the effectiveness of the scheme.