Multi-model adaptive preview control for discretetime systems with state delay

Multi-model adaptive preview control for state-delay system with unknown parameters is considered in this paper. State-delay system with unknown parameters is changed into a general system without state delay in form by using discrete lifting techniques. Then, according to preview control theory, augmented error system without state delay is obtained. Based on multi-model adaptive preview control methods, the adaptive preview controller for original system with state delay is eventually derived by designing a switching law and fixed preview controllers.