Robust decentralized adaptive control for non-minimum phase systems with unknown and/or time varying delay (Q1304037)

A decentralized model reference control for interconnected single input-single output subsystems with unknown time delay variations including the prediction of interconnected outputs acting on each subsystem is proposed. The prediction method is based on approximation of the interconnection outputs by a linear combination of orthogonal functions. Parameters are estimated by combining adaptive data filtering and recursive least-squares estimation including parameter projection and signal normalization. The decentralized model reference control ensures global system boundedness for possible nonminimum phase systems and is robust with respect to unmodelled dynamics. All considerations are performed using input/output discrete-time models. Two numerical examples are presented to illustrate efficiency of the proposed design algorithm.