Decentralized output-feedback MRAC of linear state delay systems

In this note, we develop coordinated decentralized output-feedback adaptive controllers for a class of large-scale systems with state time delays in the subsystems and in the interconnections. We present a decentralized model reference adaptive control scheme which requires an exchange of signals between the different reference models, but does not involve the exchange of output signals between the different subsystems. It can not only guarantee closed-loop stability but also asymptotic zero tracking errors when uncertainties and delays are present in the subsystems and interconnections. Closed-loop signal boundedness and asymptotic output-feedback tracking are proven analytically and verified by simulation.