一类不确定延迟系统的鲁棒自适应控制

针对一类不确定的延迟系统，提出一种鲁棒的模型参考自适应控制设计方案．它不同于以往将所有延迟部分转化为系统的未建模动态的方案，该方案只是把延迟偏离标称值的扰动转化为系统的未建模动态，而将能够获得的延迟标称值信息加入系统的建模部分，从而使系统的建模更为精确．同时，研究了这种其建模部分含有延迟的系统的稳定性和鲁棒性．仿真结果验证了该方案的有效性．

Robust adaptive control for linear systems with delay uncertainty

For a class of uncertain linear systems with delay perturbation, a robust model reference adaptive control design scheme is proposed. Unlike the conventional ones, which transform all the delay into unmodelled dynamics, the scheme only transforms the delay perturbation into unmodelled dynamics. Meanwhile the desired delay acquired by some way is considered as the modelled part, so that the modelling of the systems is more accurate. The stability and robustness of the systems with delayed modelled part are investigated. Simulation results illustrate the effectiveness of the scheme.