Synthesis of quasiadaptive automatic control system for multivariable plant with state and input time-delay

An analytical solution of the problem of synthesis of quasiadaptive automatic control system with a reference model for multivariable plant with state and input time-delays on the basis of system embedding technology is proposed. The compensation scheme is applied to compensate input delay. Design of the corresponding control law is carried out for cases of synthesis with respect to free component, to forced component, to free and forced components of mismatch of the closed-loop dynamic system. Coefficients, which determine a set of solutions of the problem of synthesis and conditions of the existence of these solutions, are calculated.