A simple method for estimation the time delay based on damped oscillations

This paper describes a simple closed loop procedure for estimating the value of the time delay in an all-pole system. The procedure may be used to track slow changes in the time delay. It uses the damped oscillatory response of the closed-loop system. Two slightly different methods are presented to obtain unknown value of τ. Additionally, this paper also illustrates how the Prony´s method may be used to obtain necessary initial data.