State‐feedback adaptive tracking of linear systems with input and state delays

Abstract

AbstractA state‐feedback Lyapunov‐based design of direct model reference adaptive control is developed for a class of linear systems with input and state delays based only on lumped delays without so‐called distributed‐delay blocks. The design procedure is based on the concept of reference trajectory prediction, and on the formulation of an augmented error. We propose a controller parametrization that attempts to anticipate the future states. An appropriate Lyapunov–Krasovskii type functional is found for the design and the stability analysis. A simulation example illustrates the new controller. Copyright © 2008 John Wiley & Sons, Ltd.