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The system robustness is obtained by the application of a proposed adaptive input-output data filtering associated with a recursive least-squares estimation algorithm, with parameter projection and normalization. The estimated filtered model with zeros relocated inside the unit circle permits to deal with non-minimum phase systems, while relaxing the classical constraints on the time delay and unmodelled dynamics.   The scheme robustness with respect to unmodelled dynamics and noise is demonstrated by two numerical examples. A first example is a SISO linear discrete-time non-minimum phase system with time-varying delay, and the second example is used to illustrate the performance of the MRAC for non-minimum phase systems without a priori information about the exact time delay. 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