An O(T2) Discrete-Time Adaptive Regulator for Uncertain MIMO Systems with Bounded Input Delays

This paper proposes a discrete-time adaptive regulator for a MIMO linear time-invariant system with unknown, constant input time delays that may differ across the input channels. It is assumed the delay has a known upper-bound. In addition, the plant is subject to an unmeasurable exogeneous disturbance. To mitigate the effect of the disturbance, a secondorder delay disturbance observer is used. A stability analysis shows that the proposed regulator drives the plant state to zero asymptotically with an O(T
²
) bound on the regulation error and simulation results are shown to verify the approach.