An O(T2) Discrete-Time Adaptive Regulator for Uncertain MIMO Systems with Bounded Input Delays

Khalid ABIDI, SOO Hang Jian
2020 2020 59th IEEE Conference on Decision and Control (CDC)  
This paper proposes a discrete-time adaptive regulator for a MIMO linear time-invariant system with unknown, constant input time delays that may differ across the input channels. It is assumed the delay has a known upper-bound. In addition, the plant is subject to an unmeasurable exogeneous disturbance. To mitigate the effect of the disturbance, a secondorder delay disturbance observer is used. A stability analysis shows that the proposed regulator drives the plant state to zero asymptotically
more » ... ero asymptotically with an O(T 2 ) bound on the regulation error and simulation results are shown to verify the approach.
doi:10.1109/cdc42340.2020.9304430 fatcat:fv22azgoyjhrppymme37fjl57a