Decentralized MRAC for Large-Scale Interconnected Systems With State and Input Delays by Integrators Inclusion

This paper investigates the problem of decentralized model reference adaptive control (MRAC) for a class of large-scale systems with time-varying delays in the interconnected terms and state and input delays. The upper bounds of interconnection terms with time-varying delays and external disturbances are assumed to be completely unknown. By integrators inclusion, a dynamic input delay compensator is established for input delay compensation and it is used as a practical method for state calculation x(t + R). Also, a method is presented for a class of decentralized feedback controllers, which can evolve the closed-loop system error uniformly bounded stable. As a numerical example, the proposed technique is applied to an unstable open-loop system to show the feasibility and effectiveness of the method.