Adaptive Multisinusoidal Signal Tracking System with Input Delay*

In this paper the problem of adaptive tracking of unknown multisinusoidal signal is addressed. The control input is characterized by the known time delay. It is assumed that all the parameters of the plant are known. In order to demonstrate efficiency of the proposed approach it is implemented to the robotic application. Detailed description of the experimental results are presented in the paper. In addition to the latter comparison between the presented algorithm and the proportional controller is performed.