A robust model reference adaptive control for non-minimum phase systems with unknown or time-varying delay (Q1571098)

The aim of this paper is to present an indirect model reference adaptive control (MRAC) for SISO (single-input-single-output) non-minimum phase systems with unknown or time-varying delay. 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. In both cases, the systems may be perturbed by unmodelled dynamics and noise.