Tube-based Direct Model Reference Adaptive Control in the Presence of State Time Delays

In the framework of the goal adaptation concept, and with the aim to provide additional desirable properties of the closed-loop system, a new technique for performance forming in model reference adaptive control of uncertain linear state delayed plants is proposed. We develop a unified adaptive control scheme for the state feedback and output feedback control cases. The control law leads to a tractable design formulation, where the performance is adapted on-line to satisfy new requirements in addition to the usual stability properties. The desired system performance is illustrated by simulation results.