A self-tuning controller with accommodation of time delay variations

This paper describes a new adaptive controller that is capable of accommodating changes in the time delay of linear systems with unknown or time-varying time delay. The derivation of the controller is based on a discrete formulation of the modified Smith delay compensator and a self-tuning control strategy. In addition to accommodating the time delay changes, the controller rejects load disturbances without requiring an estimate of the disturbance or producing an offset in the output.