Adaptive Output Feedback Control Schemes for Robust Tracking and Model Following of Uncertain Systems with Multiple Time Delays

Abstract

The problem of adaptive robust tracking and model following is considered for a class of linear dynamical systems with multiple delayed state perturbations, time-varying uncertain parameters, and external disturbance. A class of adaptive output feedback controllers is proposed for robust tracking of dynamical signals. Based on the strictly positive realness of the nominal system, it is shown from the Kalman-Yakubovitch lemma that the proposed adaptive robust output feedback tracking controller can guarantee the zero-error tracking. Finally, a numerical example is given to demonstrate the validity of the results.