An Adaptive Control Scheme for Continuous Plants under Known Output Delays, Unmodelled Dynamics and Input Saturations

This paper deals with robustness of adaptive control of continuous systems subject to known output delays, input saturations, unmodelled linear dynamics and bounded disturbances. A simple gradient type algorithm with a relative deadzone is used. The relative deadzone is built with an estimated contribution of the unmodelled dynamics to the system output. The basic tool used for stability and robustness analysis Gronwall´s Lemma.