Adaptive controller for continuous systems with single internal and external delays (Q2563804)

An adaptive controller for the system \[ \begin{aligned} \dot x(t) &= Ax(t)+ A_1x(t-h)+ du(t)+ d_1u(t-h^1),\\ y(t) &= C^Tx(t)\end{aligned} \] is derived. By using a feedback law of a specific form it is shown that the closed-loop finite spectrum can be assigned arbitrarily in the case of known plant parameters and, in the case of unknown parameters, converges to any zero free (stable) reference model with all signals in the feedback loop remaining bounded. Stability is proved under two mild assumptions.