MRAC of linear systems with input and state delays

State feedback Lyapunov-based design of direct model reference adaptive control (MRAC) for a class of linear systems with input and state delays based only on the lumped-delays without so-called distributed-delay (DD) blocks are developed. The design procedure is based on the concept of reference trajectories prediction, and on the formulation of an augmented error. We propose a controller parametrization which attempts to anticipate the future states. The appropriate Lyapunov-Krasovskii type functional is introduced. A simulation example illustrates the new controller.