Robust Output-Feedback Model Reference Adaptive Control of SISO Plants With Multiple Uncertain, Time-Varying State Delays

Within the model reference adaptive control framework, a simple adaptive output-feedback control scheme is developed for a class of linear single-input single-output dynamic systems with multiple state delays which is robust with respect to multiple unknown time-varying plant delays and to an external disturbance with unknown bounds. A special form of the Lyapunov-Krasovskii functional with ldquovirtualrdquo adaptation gain is introduced to prove stability.