Disturbance Compensating Adaptive Regulator for MIMO Time-Delayed Discrete-Time Systems

A discrete-time adaptive regulator for uncertain MIMO LTI systems with input delays is proposed. The input delays are assumed to be constant and unknown except for a known upper bound, and it is possible for delays to be different across input channels. An adaptive estimator is used for online parameter estimation, and the control law is obtained by applying Artstein's model reduction to the adaptive model after it has been rewritten using a second order difference. The resulting controller is, then, able to stabilize the system while mitigating the effects of the unmeasurable exogeneous disturbances.