Identification of Time Delay in Multiple Input, Multiple Output Discrete Systems

In this work unknown constant or time-varying delays are explicitly identified using an error function approach. This is an extension of the method of Goedcke and Kurz (IFAC Symposium on Identification and System Parameter Estimation, vol. 2, 1979) to the multiple-input, multiple-output (MIMO) system. Adaptive identification of system parameters can be made faster by increasing the adaptive gains. In explicit identification and control schemes the adaptation speed can be controlled at low noise levels. These approaches can also be used to control nonminimum-phase systems, minimum-phase systems, even though they result in simpler designs. A priori upper bound dmax is assumed for the time delay. The actual time delay may be any integer between 0 and dmax.