A simple adaptive controller for positive-real systems with time-delay

Abstract

This paper focuses on constructing a simple adaptive controller for positive-real systems with a delayed input. The controller structure and the adaptive law are such that they extend in a natural way to the delay-free case. The idea is based on the construction of a Lyapunov-Krasovskii functional for an appropriate model transformation of the original system. Comments on the delay effects are also included.