A simple redesign of model reference adaptive control for state-delayed systems with general relative degrees

A simple design method of model reference adaptive control for processes with delayed states via output feedbacks, is considered in the present manuscript. It is shown that the proposed design procedure can be applied to high relative degree cases without complicated control structures and without any time derivatives of outputs, and that global boundedness of the control systems is assured. The output errors converge to residual regions whose magnitudes can be made arbitrarily small by choosing design parameters in the high-gain observers.