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Conditions for preservation of stability of adaptive controllers for systems with unmodeled delay

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3 Author(s)
Fernandez, G. ; Div. de Estudios de Posgrado, Fac. de Ingenieria, Mexico City, Mexico ; Ortega, R. ; Begovich, O.

Some recent results from the mathematical literature are used to derive conditions under which stability of an adaptive controlled system (first-order plant with output feedback) is preserved in spite of the presence of a time delay in the plant input. Bounds on the delay, for which stability is preserved, are derived for three robust versions of the gradient update law: fixed σ modification with and without normalization and a time-varying σ modification

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Automatic Control, IEEE Transactions on  (Volume:33 ,  Issue: 6 )