Adaptive disturbance compensation in delayed linear systems: Internal model approach

Two algorithms of adaptive disturbance compensation for a class of linear plants with input delay are proposed. The disturbance is represented as the output of linear exosystem with known order and unknown parameters. The first algorithm is based on indirect adaptation strategy and implies design of adaptive observer, while the second one exploits the direct adaptation strategy. Delay compensation in the both algorithms is provided via adjustable disturbance model predictor.