Model matching control of multiple-inputdelay systems

This study considers the model matching problem for a class of multiple-input-delay systems whose inputs involve different delays. The reference model is chosen to be a diagonal delay transfer matrix. A model matching controller, which involves multiple integrals of past inputs over different delay intervals, is designed for the nominal systems. Then an adaptive control scheme is proposed for uncertain systems with parameter variation. The resulting scheme can guarantee global stability of the closed-loop systems and the convergence of tracking errors. A simulation example is included to illustrate the proposed scheme.