Extended 2-delay model reference adaptive control algorithms with application to a real system

We propose new extended methods for designing 2-delay model reference adaptive control systems. These methods are applicable to real systems which have unstable or poorly dumped zeros. Moreover, in the proposed methods, instead of forcing the tracking error at each sampling instance to be zero, the controller is optimized such that steady state input for a class of desired outputs can be reduced in its amplitude and close to that of continuous-time control. In order to confirm the effectiveness of the proposed method, computer simulations and extensive experiments are carried out using the positioning system with a DD motor. It is shown that the proposed methods can be successfully applied.