An adaptive controller for continuous-time systems with unknown varying time-delay

Presents a new design method for controlling unknown continuous time systems with varying time-delay. At first, a model reference based identifier is employed to identify the unknown constant parameters and unknown varying time-delay and a new type of identification algorithm is deduced, which make the error between the model and the plant trend to zero. And then a pole-placement controller is obtained based on the identified results. It is shown that with this controller, the whole system is globally stable and realizes the perfect tracking with respects to given signals. Finally, several simulation examples are carried out and the results of those simulations coincide with the theory developed