Robustness of Discrete-Time MRACS with Delay Mismatch

Abstract

Robustness of discreate-time model reference adaptive control systems with respect to the mismatch between plant delay and model delay is studied. It is shown that the mismatch of delay is estimated as an approximation error of control signal and that the error is in the high-frequency range. Parameter adjustment with a low-pass filter makes the control system robust against the mismatch of delay.