Abstract
A new algorithm for the adaptive control of systems with unknown time delay is presented in which the underlying control law has the familiar PID structure. The design is based on a continuous-time approach. This algorithm can be applied to a class of high-order systems which can be modelled by either a second-order system with time delay or a first-order system with time delay. The parameters of the system including time delay are estimated recursively by a derivative-free least-squares algorithm. The controller settings are selected according to a set of analytical formulae derived from mean-square error criteria. The algorithm is tested on simulated examples as well as a laboratory-scale coupled-tank apparatus.
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