Robust Adaptive Posicast Controller∗

Adaptive Posicast Controller that is robust to delay-mismatch is introduced in this paper. Inspired from a recent result on guaranteed delay margins in adaptive control, the original adaptive laws of the above mentioned controller are modi?ed using projection to compensate the uncertainty in the input delay. It is conjectured and shown in simulations that even though the assumed upper bound for the delay value is exceeded, Adaptive Posicast Controller with projection algorithm keeps all the system signals bounded.