Robust adaptive controller for systems with point delays

A new direct adaptive control algorithm valid for SISO plants involving both internal and external point delays is presented. The controller is an adaptive version of a pole-placement controller which is applicable to noninversely stable nominal plants. The most important feature of the presented controller structure is that it only involves point delayed signals while distributed delays are avoided in the controller synthesis. Furthermore, the controller signals are synthesized by filtering the input and output plant signals. The result is a simple controller synthesis with a low computational cost