Computable Delay Margins for Adaptive Systems With State Variables Accessible.

Robust adaptive control of plants whose state variables are accessible in the presence of an input time delay is established in this paper. It is shown that a standard model reference adaptive controller modified with projection ensures global boundedness of the overall adaptive system for a range of nonzero delays. The upper bound of such delays, that is, the delay margin, is explicitly defined and can be computed a priori.