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

Lookup NU author(s): Dr Khalid Abidi, Hang Jian Soo



This is the authors' accepted manuscript of a conference proceedings (inc. abstract) that has been published in its final definitive form by IEEE, 2020.

For re-use rights please refer to the publisher's terms and conditions.


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 second order delay disturbance observer is used. A stability analysis shows that the proposed regulator drives the plant state to zeroasymptotically with an O(T2) bound on the regulation error and simulation results are shown to verify the approach.

Publication metadata

Author(s): Abidi K, Soo HJ

Publication type: Conference Proceedings (inc. Abstract)

Publication status: Published

Conference Name: 59th IEEE Conference on Decision and Control (CDC 2020)

Year of Conference: 2020

Online publication date: 11/01/2021

Acceptance date: 16/07/2020

Date deposited: 27/07/2020

ISSN: 2576-2370

Publisher: IEEE


DOI: 10.1109/CDC42340.2020.9304430

Library holdings: Search Newcastle University Library for this item

ISBN: 9781728174471