Adaptive following of perturbed plants with input and state delays

In this paper we develop a state feedback Lyapunov-based design of direct model reference adaptive control (MRAC) for a special class of non-linear systems with input and state delays, based only on the lumped-delays without so-called distributed-delay (DD) blocks are developed. A Smith predictor built on the base of the reference model transfer function is introduced for indirect (implicit) input-delay compensation. Finally, simulation results are given to demonstrate the effectiveness of the proposed method