NN control of discrete-time MIMO systems with input delay

In this paper, adaptive neural network (NN) control scheme is investigated for classes of discrete-time multi inputs multi outputs (MIMO) nonlinear systems with known input delay and triangular form inputs. By recursive substitution, the original system is transformed into an input-output based predictor model with the triangular form inputs structure unchanged. Neural networks are used to approximate the desired controls which can realize exact tracking. The closed loop system is proved to be semi-globally uniformly ultimately bounded (SGUUB) by using Lyapunov synthesis method