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A multiestimation scheme is used to improve the identification error and then to deal with possible errors between the true basic delays compared to that used in the regressor of the adaptive scheme. Each estimation scheme possess a relative dead zone for each estimation scheme which freezes the adaptation for small sizes of the adaptation error compared with the estimated size of the contribution of the uncertainties to the filtered output. All the estimation schemes run in parallel but only that, which is currently in operation, parameterizes the adaptive controller to generate the plant input at each time. A supervisory scheme chooses in real time the appropriate estimator subject to a minimum residence time which is the tool to ensure closed-loop stability under switching between the estimators in the estimation scheme. 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