Adaptive disturbance compensation in linear systems with input arbitrary delay: Internal model approach

In this paper the disturbance compensation problem for the class of linear time-invariant (LTI) plants with known parameters and input delay is addressed. The disturbance is represented as the unknown output of linear model (exosystem) with known order and unknown parameters. The proposed approach is based on design of adjustable predictor of exosystem output and modified adaptation algorithm. The contribution of the paper is that proposed solution allows us to increase the open loop gain (adaptation gain) and the delay without loss of stability and does not require the identification of exosystem parameters.