State dependent disturbance compensation method for motor control system with unknown time-varying input delay

In a research field of motor control, several types of control methods that target to eliminate the effects of state dependent disturbances in the motor control environment had been suggested. However, the unknown time-varying input time delay has not been considered in that control schemes. In this paper, a state dependent disturbance compensation method using adaptive control scheme in unknown time-varying input time delay existing motor control environment is presented. The effectiveness of the proposed state dependent disturbance compensation method is demonstrated using MATLAB simulation results. The compensation method is also available in the environment which contains additional known output time delay.